相关论文: Energy-Constrained Active Exploration Under Increm…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Structural learning, a method to estimate the parameters for discrete energy minimization, has been proven to be effective in solving computer vision problems, especially in 3D scene parsing. As the complexity of the models increases,…

In this chapter, an integer linear programming formulation for the problem of obtaining task-relevant, multi-resolution, environment abstractions for resource-constrained autonomous agents is presented. The formulation leverages concepts…

We revisit the incremental autonomous exploration problem proposed by Lim & Auer (2012). In this setting, the agent aims to learn a set of near-optimal goal-conditioned policies to reach the $L$-controllable states: states that are…

This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…

Modern Mixed Integer Linear Programming (MILP) solvers use the Branch-and-Bound algorithm together with a plethora of auxiliary components that speed up the search. In recent years, there has been an explosive development in the use of…

Mappings to structured output spaces (strings, trees, partitions, etc.) are typically learned using extensions of classification algorithms to simple graphical structures (eg., linear chains) in which search and parameter estimation can be…

Symbolic planning can provide an intuitive interface for non-expert users to operate autonomous robots by abstracting away much of the low-level programming. However, symbolic planners assume that the initially provided abstract domain and…

Mastering deep reinforcement learning (DRL) proves challenging in tasks featuring scant rewards. These limited rewards merely signify whether the task is partially or entirely accomplished, necessitating various exploration actions before…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Dropped into an unknown environment, what should an agent do to quickly learn about the environment and how to accomplish diverse tasks within it? We address this question within the goal-conditioned reinforcement learning paradigm, by…

This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

In this work, we take a first step toward elucidating the mechanisms behind emergent exploration in unsupervised reinforcement learning. We study Single-Goal Contrastive Reinforcement Learning (SGCRL), a self-supervised algorithm capable of…

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…

Autonomous robotic exploration has long attracted the attention of the robotics community and is a topic of high relevance. Deploying such systems in the real world, however, is still far from being a reality. In part, it can be attributed…

We consider the problem of optimally utilizing $N$ resources, each in an unknown binary state. The state of each resource can be inferred from state-dependent noisy measurements. Depending on its state, utilizing a resource results in…

The interpretability of models has become a crucial issue in Machine Learning because of algorithmic decisions' growing impact on real-world applications. Tree ensemble methods, such as Random Forests or XgBoost, are powerful learning tools…

The penetration of variable renewable energy (VRE) in electrical systems has changed the way the expansion planning is treated. This kind of resource has great variability in small amounts of time, which makes it important to represent…