相关论文: DeepSafeMPC: Deep Learning-Based Model Predictive …

Communication technologies enable coordination among connected and autonomous vehicles (CAVs). However, it remains unclear how to utilize shared information to improve the safety and efficiency of the CAV system in dynamic and complicated…

Multi-agent deep reinforcement learning has been applied to address a variety of complex problems with either discrete or continuous action spaces and achieved great success. However, most real-world environments cannot be described by only…

This paper presents deep meta coordination graphs (DMCG) for learning cooperative policies in multi-agent reinforcement learning (MARL). Coordination graph formulations encode local interactions and accordingly factorize the joint value…

Model predictive control (MPC) is a powerful tool for controlling complex nonlinear systems under constraints, but often struggles with model uncertainties and the design of suitable cost functions. To address these challenges, we discuss…

The performance of multi-agent reinforcement learning (MARL) in partially observable environments depends on effectively aggregating information from observations, communications, and reward signals. While most existing multi-agent systems…

Cooperative Multi-agent Reinforcement Learning (MARL) has attracted significant attention and played the potential for many real-world applications. Previous arts mainly focus on facilitating the coordination ability from different aspects…

Multi-Agent Reinforcement Learning (MARL) encompasses a powerful class of methodologies that have been applied in a wide range of fields. An effective way to further empower these methodologies is to develop libraries and tools that could…

Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for…

In most existing studies on large-scale multi-agent coordination, the control methods aim to learn discrete policies for agents with finite choices. They rarely consider selecting actions directly from continuous action spaces to provide…

Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…

Information theoretic sensor management approaches are an ideal solution to state estimation problems when considering the optimal control of multi-agent systems, however they are too computationally intensive for large state spaces,…

Optimal control strategies are often combined with safety certificates to ensure both performance and safety in safety-critical systems. A prominent example is combining Model Predictive Control (MPC) with Control Barrier Functions (CBF).…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…

Entropy regularization is a popular method in reinforcement learning (RL). Although it has many advantages, it alters the RL objective of the original Markov Decision Process (MDP). Though divergence regularization has been proposed to…

Multi-Agent Reinforcement Learning can lead to the development of collaborative agent behaviors that show similarities with organizational concepts. Pushing forward this perspective, we introduce a novel framework that explicitly…

Recent breakthroughs in Go play and strategic games have witnessed the great potential of reinforcement learning in intelligently scheduling in uncertain environment, but some bottlenecks are also encountered when we generalize this…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

In edge computing systems, autonomous agents must make fast local decisions while competing for shared resources. Existing MARL methods often resume to centralized critics or frequent communication, which fail under limited observability…

In the last few years, deep multi-agent reinforcement learning (RL) has become a highly active area of research. A particularly challenging class of problems in this area is partially observable, cooperative, multi-agent learning, in which…

Deep multi-agent reinforcement learning (MARL) has been demonstrated effectively in simulations for multi-robot problems. For autonomous vehicles, the development of vehicle-to-vehicle (V2V) communication technologies provide opportunities…