相关论文: Sense, Imagine, Act: Multimodal Perception Improve…

Nowadays, autonomous cars are gaining traction due to their numerous potential applications on battlefields and in resolving a variety of other real-world challenges. The main goal of our project is to build an autonomous system using…

We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…

This paper is concerned with multi-view reinforcement learning (MVRL), which allows for decision making when agents share common dynamics but adhere to different observation models. We define the MVRL framework by extending partially…

In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the robot, DRL training is an active exploration process typically…

Developing effective Multi-Agent Systems (MAS) is critical for many applications requiring collaboration and coordination with humans. Despite the rapid advance of Multi-Agent Deep Reinforcement Learning (MADRL) in cooperative MAS, one…

In multi-robot exploration, a team of mobile robot is tasked with efficiently mapping an unknown environments. While most exploration planners assume omnidirectional sensors like LiDAR, this is impractical for small robots such as drones,…

In this paper, we propose Multi-View Dreaming, a novel reinforcement learning agent for integrated recognition and control from multi-view observations by extending Dreaming. Most current reinforcement learning method assumes a single-view…

Advancing Machine Learning (ML)-based perception models for autonomous systems necessitates addressing weak spots within the models, particularly in challenging Operational Design Domains (ODDs). These are environmental operating conditions…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

Supervised learning is widely used in training autonomous driving vehicle. However, it is trained with large amount of supervised labeled data. Reinforcement learning can be trained without abundant labeled data, but we cannot train it in…

Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire…

Model-based reinforcement learning (MBRL) is a promising route to sample-efficient policy optimization. However, a known vulnerability of reconstruction-based MBRL consists of scenarios in which detailed aspects of the world are highly…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Learned world models summarize an agent's experience to facilitate learning complex behaviors. While learning world models from high-dimensional sensory inputs is becoming feasible through deep learning, there are many potential ways for…

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences.…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Recent advances in Multi-modal Large Language Models (MLLMs) have predominantly focused on enhancing visual perception to improve accuracy. However, a critical question remains unexplored: Do models know when they do not know? Through a…