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

Autonomous cyber-physical agents and systems play an increasingly large role in our lives. To ensure that agents behave in ways aligned with the values of the societies in which they operate, we must develop techniques that allow these…

Recent advancements in large language models (LLMs) have brought significant changes to various domains, especially through LLM-driven autonomous agents. A representative scenario is in software development, where LLM agents demonstrate…

This paper tackles the problem of how to pre-train a model and make it generally reusable backbones for downstream task learning. In pre-training, we propose a method that builds an agent-environment interaction model by learning domain…

Despite significant advancements in the field of multi-agent navigation, agents still lack the sophistication and intelligence that humans exhibit in multi-agent settings. In this paper, we propose a framework for learning a human-like…

We present a novel problem setting in zero-shot learning, zero-shot object recognition and detection in the context. Contrary to the traditional zero-shot learning methods, which simply infers unseen categories by transferring knowledge…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes…

As the industry of autonomous driving grows, so does the potential interaction of groups of autonomous cars. Combined with the advancement of Artificial Intelligence and simulation, such groups can be simulated, and safety-critical models…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Navigation through uncontrolled intersections is one of the key challenges for autonomous vehicles. Identifying the subtle differences in hidden traits of other drivers can bring significant benefits when navigating in such environments. We…

Experience replay enables reinforcement learning agents to memorize and reuse past experiences, just as humans replay memories for the situation at hand. Contemporary off-policy algorithms either replay past experiences uniformly or utilize…

Manipulation and assembly tasks require non-trivial planning of actions depending on the environment and the final goal. Previous work in this domain often assembles particular instances of objects from known sets of primitives. In…

Continual learning for reinforcement learning agents remains a significant challenge, particularly in preserving and leveraging existing information without an external signal to indicate changes in tasks or environments. In this study, we…

In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…

Using deep reinforcement learning, we train control policies for autonomous vehicles leading a platoon of vehicles onto a roundabout. Using Flow, a library for deep reinforcement learning in micro-simulators, we train two policies, one…