相关论文: Improving Generalization in Reinforcement Learning…

Recent advances in supervised learning and reinforcement learning have provided new opportunities to apply related methodologies to automated driving. However, there are still challenges to achieve automated driving maneuvers in dynamically…

The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…

Reinforcement Learning (RL) has shown remarkable progress in simulation environments, yet its application to real-world robotic tasks remains limited due to challenges in exploration and generalization. To address these issues, we introduce…

Deep reinforcement learning (RL) agents often fail to generalize to unseen environments (yet semantically similar to trained agents), particularly when they are trained on high-dimensional state spaces, such as images. In this paper, we…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Specification-guided reinforcement learning (RL) provides a principled framework for encoding complex, temporally extended tasks using formal specifications such as linear temporal logic (LTL). While recent methods have shown promising…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

In this work, we study model-based reinforcement learning (RL) in unknown stabilizable linear dynamical systems. When learning a dynamical system, one needs to stabilize the unknown dynamics in order to avoid system blow-ups. We propose an…

Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…

Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking policies are often brittle outside the demonstration…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

The reliable deployment of deep reinforcement learning in real-world settings requires the ability to generalize across a variety of conditions, including both in-distribution scenarios seen during training as well as novel…

While deep reinforcement learning (RL) has been increasingly applied in designing car-following models in the last years, this study aims at investigating the feasibility of RL-based vehicle-following for complex vehicle dynamics and strong…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

Deep reinforcement learning (DRL) has been successfully used to design forwarding strategies for multi-hop mobile wireless networks. While such strategies can be used directly for networks with varied connectivity and dynamic conditions,…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

In recent years, Deep Reinforcement Learning (DRL) has emerged as a promising method for robot collision avoidance. However, such DRL models often come with limitations, such as adapting effectively to structured environments containing…

The high cost of real-world data for robotics Reinforcement Learning (RL) leads to the wide usage of simulators. Despite extensive work on building better dynamics models for simulators to match with the real world, there is another,…