相关论文: Robotic Exploration using Generalized Behavioral E…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…

Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from…

Simplicity is a critical inductive bias for designing data-driven controllers, especially when robustness is important. Despite the impressive results of deep reinforcement learning in complex control tasks, it is prone to capturing…

In humans, intrinsic motivation is an important mechanism for open-ended cognitive development; in robots, it has been shown to be valuable for exploration. An important aspect of human cognitive development is $\textit{episodic memory}$…

Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Entropy regularization is a standard technique in reinforcement learning (RL) to enhance exploration, yet it yields negligible effects or even degrades performance in Large Language Models (LLMs). We attribute this failure to the cumulative…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

The main objective of this paper is to outline a theoretical framework to analyse how humans' decision-making strategies under uncertainty manage the trade-off between information gathering (exploration) and reward seeking (exploitation). A…

A recent body of work addresses safety constraints in explore-and-exploit systems. Such constraints arise where, for example, exploration is carried out by individuals whose welfare should be balanced with overall welfare. In this paper, we…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

The Renyi entropy is a generalisation of the Shannon entropy that is sensitive to the fine details of a probability distribution. We present results for the Renyi entropy of the totally asymmetric exclusion process (TASEP). We calculate…

With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

We present a real-time, data-driven algorithm to enhance the social-invisibility of robots within crowds. Our approach is based on prior psychological research, which reveals that people notice and--importantly--react negatively to groups…

Understanding human activity is a crucial aspect of developing intelligent robots, particularly in the domain of human-robot collaboration. Nevertheless, existing systems encounter challenges such as over-segmentation, attributed to errors…

Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…

Reinforcement learning (RL) is a powerful framework for decision-making in uncertain environments, but it often requires large amounts of data to learn an optimal policy. We address this challenge by incorporating prior model knowledge to…

Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…

One of the remaining challenges in reinforcement learning is to develop agents that can generalise to novel scenarios they might encounter once deployed. This challenge is often framed in a multi-task setting where agents train on a fixed…