相关论文: Data-Efficient Policy Selection for Navigation in …

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Policy gradient (PG) methods are a class of effective reinforcement learning algorithms, particularly when dealing with continuous control problems. They rely on fresh on-policy data, making them sample-inefficient and requiring…

Temporal abstractions in the form of options have been shown to help reinforcement learning (RL) agents learn faster. However, despite prior work on this topic, the problem of discovering options through interaction with an environment…

We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understanding of semantic…

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL…

Reinforcement learning (RL) algorithms are often categorized as either on-policy or off-policy depending on whether they use data from a target policy of interest or from a different behavior policy. In this paper, we study a subtle…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

The interactive decision-making in multi-agent autonomous racing offers insights valuable beyond the domain of self-driving cars. Mapless online path planning is particularly of practical appeal but poses a challenge for safely overtaking…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…

We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that our approach produces policies that result in stable and…

We consider the problem of online combinatorial optimization under semi-bandit feedback. The goal of the learner is to sequentially select its actions from a combinatorial decision set so as to minimize its cumulative loss. We propose a…

Meta-planning, or learning to guide planning from experience, is a promising approach to improving the computational cost of planning. A general meta-planning strategy is to learn to impose constraints on the states considered and actions…

The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…