相关论文: Robotic Exploration using Generalized Behavioral E…

Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck…

We propose a reinforcement learning framework for discrete environments in which an agent makes both strategic and tactical decisions. The former manifests itself through the use of value function, while the latter is powered by a tree…

We present a new approach for efficient exploration which leverages a low-dimensional encoding of the environment learned with a combination of model-based and model-free objectives. Our approach uses intrinsic rewards that are based on the…

Infants acquire language with generalization from minimal experience, whereas large language models require billions of training tokens. What underlies efficient development in humans? We investigated this problem through experiments…

Accelerating exploration in visual reinforcement learning under sparse rewards remains challenging due to the substantial task-irrelevant variations. Despite advances in intrinsic exploration, many methods either assume access to…

We present a robotic exploration technique in which the goal is to learn to a visual model and be able to distinguish between different terrains and other visual components in an unknown environment. We use ROST, a realtime online…

Rapidly-exploring Random Trees (RRTs) are a popular technique for autonomous exploration of mobile robots. However, the random sampling used by RRTs can result in inefficient and inaccurate frontiers extraction, which affects the…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

We consider an agent's uncertainty about its environment and the problem of generalizing this uncertainty across observations. Specifically, we focus on the problem of exploration in non-tabular reinforcement learning. Drawing inspiration…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

This study investigates entropy's potential for analyzing scientific research patterns across disciplines. Originating from thermodynamics, entropy now measures uncertainty and diversity in information systems. We examine Shannon Entropy,…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…

Deep reinforcement learning has been shown to solve challenging tasks where large amounts of training experience is available, usually obtained online while learning the task. Robotics is a significant potential application domain for many…

This paper presents entropy maps, an approach to describing and visualising uncertainty among alternative potential movement intentions in pedestrian simulation models. In particular, entropy maps show the instantaneous level of randomness…

In Reinforcement Learning (RL), agents have no incentive to exhibit predictable behaviors, and are often pushed (through e.g. policy entropy regularisation) to randomise their actions in favor of exploration. This often makes it challenging…

As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…

Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system)…