相关论文: Reaching the Limit in Autonomous Racing: Optimal C…

This work investigates the potential of Reinforcement Learning (RL) to tackle robot motion planning challenges in the dynamic RoboCup Small Size League (SSL). Using a heuristic control approach, we evaluate RL's effectiveness in…

In the dynamic and uncertain environments where reinforcement learning (RL) operates, risk management becomes a crucial factor in ensuring reliable decision-making. Traditional RL approaches, while effective in reward optimization, often…

Existing methods for optimal control struggle to deal with the complexity commonly encountered in real-world systems, including dimensionality, process error, model bias and data heterogeneity. Instead of tackling these system complexities…

Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

Deep reinforcement learning (RL) approaches have been broadly applied to a large number of robotics tasks, such as robot manipulation and autonomous driving. However, an open problem in deep RL is learning policies that are robust to…

Reinforcement Learning (RL) has recently impressed the world with stunning results in various applications. While the potential of RL is now well-established, many critical aspects still need to be tackled, including safety and stability…

Deep Reinforcement Learning (DRL) has become a popular method for solving control problems in power systems. Conventional DRL encourages the agent to explore various policies encoded in a neural network (NN) with the goal of maximizing the…

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

Reinforcement learning (RL)-based driver assistance systems seek to improve fuel consumption via continual improvement of powertrain control actions considering experiential data from the field. However, the need to explore diverse…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

Current image-based reinforcement learning (RL) algorithms typically operate on the whole image without performing object-level reasoning. This leads to inefficient goal sampling and ineffective reward functions. In this paper, we improve…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

We present theoretical and numerical results concerning the problem to find the path that minimizes the time to navigate between two given points in a complex fluid under realistic navigation constraints. We contrast deterministic Optimal…

Reinforcement learning (RL) has achieved outstanding success in complex robot control tasks, such as drone racing, where the RL agents have outperformed human champions in a known racing track. However, these agents fail in unseen track…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Reinforcement learning (RL) has been widely used in decision-making and control tasks, but the risk is very high for the agent in the training process due to the requirements of interaction with the environment, which seriously limits its…