相关论文: A Deep Reinforcement Learning Based Motion Cueing …

Recently, Intelligent Transportation Systems are leveraging the power of increased sensory coverage and computing power to deliver data-intensive solutions achieving higher levels of performance than traditional systems. Within Traffic…

Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques solve this problem by…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

It can be difficult to autonomously produce driver behavior so that it appears natural to other traffic participants. Through Inverse Reinforcement Learning (IRL), we can automate this process by learning the underlying reward function from…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…

In this paper, we propose a cost-matching approach for optimal humanoid locomotion within a Model Predictive Control (MPC)-based Reinforcement Learning (RL) framework. A parameterized MPC formulation with centroidal dynamics is trained to…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

Training self-driving cars is often challenging since they require a vast amount of labeled data in multiple real-world contexts, which is computationally and memory intensive. Researchers often resort to driving simulators to train the…

Reinforcement learning (RL)-based adaptive cruise control systems (ACC) that learn and adapt to road, traffic and vehicle conditions are attractive for enhancing vehicle energy efficiency and traffic flow. However, the application of RL in…

This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…

The commissioning and operation of future large-scale scientific experiments will challenge current tuning and control methods. Reinforcement learning (RL) algorithms are a promising solution thanks to their capability of autonomously…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Although Reinforcement Learning (RL) algorithms have found tremendous success in simulated domains, they often cannot directly be applied to physical systems, especially in cases where there are hard constraints to satisfy (e.g. on safety…

We consider the problem of designing an algorithm to allow a car to autonomously merge on to a highway from an on-ramp. Two broad classes of techniques have been proposed to solve motion planning problems in autonomous driving: Model…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…