相关论文: HeR-DRL:Heterogeneous Relational Deep Reinforcemen…

We present a hybrid ML-heuristic approach that we name "Heuristically Assisted Deep Reinforcement Learning (HA-DRL)" to solve the problem of Network Slice Placement Optimization. The proposed approach leverages recent works on Deep…

Modern communication networks have become very complicated and highly dynamic, which makes them hard to model, predict and control. In this paper, we develop a novel experience-driven approach that can learn to well control a communication…

Cooperative multi-robot teams need to be able to explore cluttered and unstructured environments while dealing with communication dropouts that prevent them from exchanging local information to maintain team coordination. Therefore, robots…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Real-world heterogeneous graphs are inherently noisy and usually not in the optimal graph structures for downstream tasks, which often adversely affects the performance of GRL models in downstream tasks. Although Graph Structure Learning…

We present HetroD, a dataset and benchmark for developing autonomous driving systems in heterogeneous environments. HetroD targets the critical challenge of navi- gating real-world heterogeneous traffic dominated by vulner- able road users…

Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…

Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…

Emerging data-driven approaches, such as deep reinforcement learning (DRL), aim at on-the-field learning of powertrain control policies that optimize fuel economy and other performance metrics. Indeed, they have shown great potential in…

Vehicles today can drive themselves on highways and driverless robotaxis operate in major cities, with more sophisticated levels of autonomous driving expected to be available and become more common in the future. Yet, technically speaking,…

Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…

Multi-Agent Reinforcement Learning (MARL) is a growing research area which gained significant traction in recent years, extending Deep RL applications to a much wider range of problems. A particularly challenging class of problems in this…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

In the era of 5G mobile communication, there has been a significant surge in research focused on unmanned aerial vehicles (UAVs) and mobile edge computing technology. UAVs can serve as intelligent servers in edge computing environments,…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Decentralized combinatorial optimization in evolving multi-agent systems poses significant challenges, requiring agents to balance long-term decision-making, short-term optimized collective outcomes, while preserving autonomy of interactive…

Despite some successful applications of goal-driven navigation, existing deep reinforcement learning (DRL)-based approaches notoriously suffers from poor data efficiency issue. One of the reasons is that the goal information is decoupled…

With the widespread adoption of electric vehicles (EVs), navigating for EV drivers to select a cost-effective charging station has become an important yet challenging issue due to dynamic traffic conditions, fluctuating electricity prices,…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Numerous deep reinforcement learning agents have been proposed, and each of them has its strengths and flaws. In this work, we present a Cooperative Heterogeneous Deep Reinforcement Learning (CHDRL) framework that can learn a policy by…