相关论文: Improving Generalization in Reinforcement Learning…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Reinforcement learning (RL) has achieved remarkable success in real-world decision-making across diverse domains, including gaming, robotics, online advertising, public health, and natural language processing. Despite these advances, a…

Reinforcement learning has shown great promise in the training of robot behavior due to the sequential decision making characteristics. However, the required enormous amount of interactive and informative training data provides the major…

This study introduces a novel approach to autonomous motion planning, informing an analytical algorithm with a reinforcement learning (RL) agent within a Frenet coordinate system. The combination directly addresses the challenges of…

We investigate the use of animal videos (observations) to improve Reinforcement Learning (RL) efficiency and performance in navigation tasks with sparse rewards. Motivated by theoretical considerations, we make use of weighted policy…

Deep reinforcement learning (RL) agents trained in a limited set of environments tend to suffer overfitting and fail to generalize to unseen testing environments. To improve their generalizability, data augmentation approaches (e.g. cutout…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

Applications of reinforcement learning (RL) are popular in autonomous driving tasks. That being said, tuning the performance of an RL agent and guaranteeing the generalization performance across variety of different driving scenarios is…

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…

Reinforcement learning (rl) is a popular paradigm for sequential decision making problems. The past decade's advances in rl have led to breakthroughs in many challenging domains such as video games, board games, robotics, and chip design.…

Learning to use tools to solve a variety of tasks is an innate ability of humans and has been observed of animals in the wild. However, the underlying mechanisms that are required to learn to use tools are abstract and widely contested in…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Navigating human-populated environments without causing discomfort is a critical capability for socially-aware agents. While rule-based approaches offer interpretability through predefined psychological principles, they often lack…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…