相关论文: Experience Filter: Using Past Experiences on Unsee…

We introduce Cognitive Kernel, an open-source agent system towards the goal of generalist autopilots. Unlike copilot systems, which primarily rely on users to provide essential state information (e.g., task descriptions) and assist users by…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Zero-shot coordination problem in multi-agent reinforcement learning (MARL), which requires agents to adapt to unseen agents, has attracted increasing attention. Traditional approaches often rely on the Self-Play (SP) framework to generate…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

In this paper, we present a system to train driving policies from experiences collected not just from the ego-vehicle, but all vehicles that it observes. This system uses the behaviors of other agents to create more diverse driving…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

End-to-end vision-based autonomous driving has achieved impressive success, but safety remains a major concern. The safe control problem has been addressed in low-dimensional settings using safety filters, e.g., those based on control…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

We introduce PPOPT - Proximal Policy Optimization using Pretraining, a novel, model-free deep-reinforcement-learning algorithm that leverages pretraining to achieve high training efficiency and stability on very small training samples in…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

Having explored an environment, intelligent agents should be able to transfer their knowledge to most downstream tasks within that environment without additional interactions. Referred to as "zero-shot learning", this ability remains…

In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…

A grand goal in AI is to build a robot that can accurately navigate based on natural language instructions, which requires the agent to perceive the scene, understand and ground language, and act in the real-world environment. One key…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

The current dominant paradigm for imitation learning relies on strong supervision of expert actions to learn both 'what' and 'how' to imitate. We pursue an alternative paradigm wherein an agent first explores the world without any expert…

Acquiring driving policies that can transfer to unseen environments is challenging when driving in dense traffic flows. The design of traffic flow is essential and previous studies are unable to balance interaction and safety-criticism. To…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…