相关论文: End-to-end Reinforcement Learning for Time-Optimal…

We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…

Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…

The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Autonomous driving is complex, requiring sophisticated 3D scene understanding, localization, mapping, and control. Rather than explicitly modelling and fusing each of these components, we instead consider an end-to-end approach via…

Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this…

We focus on the problem of reliably training Reinforcement Learning (RL) models (agents) for stable low-level control in embedded systems and test our methods on a high-performance, custom-built quadrotor platform. A common but often…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Executing drift maneuvers during high-speed cornering presents significant challenges for autonomous vehicles, yet offers the potential to minimize turning time and enhance driving dynamics. While reinforcement learning (RL) has shown…

Reinforcement learning has shown great promise in the training of robot behavior due to the sequential decision making characteristics. However, the required enormous amount of interactive and informative training data provides the major…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Existing approaches for autonomous control of pan-tilt-zoom (PTZ) cameras use multiple stages where object detection and localization are performed separately from the control of the PTZ mechanisms. These approaches require manual labels…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

Traditional power grid systems have become obsolete under more frequent and extreme natural disasters. Reinforcement learning (RL) has been a promising solution for resilience given its successful history of power grid control. However,…

The exponential proliferation of mobile devices and data-intensive applications in future wireless networks imposes substantial computational burdens on resource-constrained devices, thereby fostering the emergence of over-the-air…