相关论文: Initial Task Assignment in Multi-Human Multi-Robot…

Multi-human multi-robot teams are increasingly recognized for their efficiency in executing large-scale, complex tasks by integrating heterogeneous yet potentially synergistic humans and robots. However, this inherent heterogeneity presents…

Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks. MRTA problems are known to be challenging when tasks require multiple robots and the team is composed of heterogeneous robots. These…

In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…

Achieving safe and coordinated behavior in dynamic, constraint-rich environments remains a major challenge for learning-based control. Pure end-to-end learning often suffers from poor sample efficiency and limited reliability, while…

In order to learn quickly with few samples, meta-learning utilizes prior knowledge learned from previous tasks. However, a critical challenge in meta-learning is task uncertainty and heterogeneity, which can not be handled via globally…

Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…

The quadratic computational complexity of MultiHead SelfAttention (MHSA) remains a fundamental bottleneck in scaling Large Language Models (LLMs) for longcontext tasks. While sparse and linearized attention mechanisms attempt to mitigate…

Hierarchical agents have the potential to solve sequential decision making tasks with greater sample efficiency than their non-hierarchical counterparts because hierarchical agents can break down tasks into sets of subtasks that only…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…

Cooperative Multi-Agent Reinforcement Learning (MARL) solves complex tasks that require coordination from multiple agents, but is often limited to either local (independent learning) or global (centralized learning) perspectives. In this…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Reinforcement Learning (RL) has proven highly effective at enhancing the complex reasoning abilities of Large Language Models (LLMs), yet underlying mechanisms driving this success remain largely opaque. Our analysis reveals that puzzling…

The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and…

Credit assignment is a fundamental problem in reinforcement learning, the problem of measuring an action's influence on future rewards. Explicit credit assignment methods have the potential to boost the performance of RL algorithms on many…

In a warehouse environment, tasks appear dynamically. Consequently, a task management system that matches them with the workforce too early (e.g., weeks in advance) is necessarily sub-optimal. Also, the rapidly increasing size of the action…

For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

With plans to send humans to the Moon and further, the supply of resources like oxygen, water, fuel, etc., can be satiated by performing In-Situ Resource Utilization (ISRU), where resources from the extra-terrestrial body are extracted to…

Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…