相关论文: Policy Learning for Active Target Tracking over Co…

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

With the increasing pace of automation, modern robotic systems need to act in stochastic, non-stationary, partially observable environments. A range of algorithms for finding parameterized policies that optimize for long-term average…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…

This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…

Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not only pose collision risk but can also occlude the target from…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active…

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…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets. Our approach uses deep reinforcement learning-based expert…

The policy gradient approach is a flexible and powerful reinforcement learning method particularly for problems with continuous actions such as robot control. A common challenge in this scenario is how to reduce the variance of policy…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

When performing visual servoing or object tracking tasks, active sensor planning is essential to keep targets in sight or to relocate them when missing. In particular, when dealing with a known target missing from the sensor's field of…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…