相关论文: Using Collision Momentum in Deep Reinforcement Lea…
This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that…
Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…
This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…
For highly automated driving above SAE level~3, behavior generation algorithms must reliably consider the inherent uncertainties of the traffic environment, e.g. arising from the variety of human driving styles. Such uncertainties can…
Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…
Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…
Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…
We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…
Existing approaches in reinforcement learning train an agent to learn desired optimal behavior in an environment with rule based surrounding agents. In safety critical applications such as autonomous driving it is crucial that the rule…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision…
Understanding pedestrian behavior is crucial for the safe deployment of Autonomous Vehicles (AVs) in urban environments. Traditional pedestrian behavior models often fall into two categories: mechanistic models, which do not generalize well…
Reliable pedestrian crash avoidance mitigation (PCAM) systems are crucial components of safe autonomous vehicles (AVs). The nature of the vehicle-pedestrian interaction where decisions of one agent directly affect the other agent's optimal…
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.…
The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
In crowd scenarios, predicting trajectories of pedestrians is a complex and challenging task depending on many external factors. The topology of the scene and the interactions between the pedestrians are just some of them. Due to…
At present, in most warehouse environments, the accumulation of goods is complex, and the management personnel in the control of goods at the same time with the warehouse mobile robot trajectory interaction, the traditional mobile robot can…