相关论文: SAFER: Safe Collision Avoidance using Focused and …

Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…

Safety in reinforcement learning (RL) is a key property in both training and execution in many domains such as autonomous driving or finance. In this paper, we formalize it with a constrained RL formulation in the distributional RL setting.…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

This paper proposes a safe reinforcement learning filter (SRLF) to realize multicopter collision-free trajectory tracking with input disturbance. A novel robust control barrier function (RCBF) with its analysis techniques is introduced to…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

Merely pursuing performance may adversely affect the safety, while a conservative policy for safe exploration will degrade the performance. How to balance the safety and performance in learning-based control problems is an interesting yet…

Efficient use of the space in an elevator is very necessary for a service robot, due to the need for reducing the amount of time caused by waiting for the next elevator. To provide a solution for this, we propose a hybrid approach that…

Safety stands as the primary obstacle preventing the widespread adoption of learning-based robotic systems in our daily lives. While reinforcement learning (RL) shows promise as an effective robot learning paradigm, conventional RL…

We develop provably safe and convergent reinforcement learning (RL) algorithms for control of nonlinear dynamical systems, bridging the gap between the hard safety guarantees of control theory and the convergence guarantees of RL theory.…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Unmanned Aerial Vehicles (UAVs) depend on onboard sensors for perception, navigation, and control. However, these sensors are susceptible to physical attacks, such as GPS spoofing, that can corrupt state estimates and lead to unsafe…

Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes exploration and constraint satisfaction…

Reinforcement learning (RL) enables social robots to generate trajectories without relying on human-designed rules or interventions, making it generally more effective than rule-based systems in adapting to complex, dynamic real-world…

Ineffective and inflexible traffic signal control at urban intersections can often lead to bottlenecks in traffic flows and cause congestion, delay, and environmental problems. How to manage traffic smartly by intelligent signal control is…

Executing drift maneuvers during high-speed cornering presents significant challenges for autonomous vehicles, yet offers the potential to minimize turning time and enhance driving dynamics. While reinforcement learning (RL) has shown…

Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…