相关论文: Task-Oriented Cross-System Design for Timely and A…

Developing a universal and versatile embodied intelligence system presents two primary challenges: the critical embodied data bottleneck, where real-world data is scarce and expensive, and the algorithmic inefficiency of existing methods,…

Problem Definition: Managing inpatient flow in large hospital systems is challenging due to the complexity of assigning randomly arriving patients -- either waiting for primary units or being overflowed to alternative units. Current…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

Task Assignment and Path Finding (TAPF) concerns computing collision-free motions for multiple robots while jointly selecting goal locations. In this paper, safety is enforced by requiring unit-capacity traversal between successive…

We address the problem of finding an optimal policy in a Markov decision process under a restricted policy class defined by the convex hull of a set of base policies. This problem is of great interest in applications in which a number of…

Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…

Proximal policy optimization (PPO) is one of the most popular state-of-the-art on-policy algorithms that has become a standard baseline in modern reinforcement learning with applications in numerous fields. Though it delivers stable…

Learning from multiple domains is a primary factor that influences the generalization of a single unified robot system. In this paper, we aim to learn the trajectory prediction model by using broad out-of-domain data to improve its…

Efficient traffic signal control (TSC) is crucial for reducing congestion, travel delays, pollution, and for ensuring road safety. Traditional approaches, such as fixed signal control and actuated control, often struggle to handle dynamic…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

This paper studies the communication complexity of convex risk-averse optimization over a network. The problem generalizes the well-studied risk-neutral finite-sum distributed optimization problem and its importance stems from the need to…

We present a proximal policy optimization (PPO) agent trained through curriculum learning (CL) principles and meticulous reward engineering to optimize a real-world high-throughput waste sorting facility. Our work addresses the challenge of…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

In this paper, how to efficiently find the optimal path in complex warehouse layout and make real-time decision is a key problem. This paper proposes a new method of Proximal Policy Optimization (PPO) and Dijkstra's algorithm, Proximal…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

In robot planning, tasks can often be achieved through multiple options, each consisting of several actions. This work specifically addresses deadline constraints in task and motion planning, aiming to find a plan that can be executed…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…