相关论文: Dyna-LfLH: Learning Agile Navigation in Dynamic En…

We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

Uncertainty estimation is a necessary component when implementing AI in high-risk settings, such as autonomous cars, medicine, or insurances. Large Language Models (LLMs) have seen a surge in popularity in recent years, but they are subject…

The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…

The future success of the Navy will depend, in part, on artificial intelligence. In practice, many artificially intelligent algorithms, and in particular deep learning models, rely on continual learning to maintain performance in dynamic…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to…