相关论文: Multi-Agent Inverse Reinforcement Learning in Real…

Traffic signal control aims to coordinate traffic signals across intersections to improve the traffic efficiency of a district or a city. Deep reinforcement learning (RL) has been applied to traffic signal control recently and demonstrated…

Multi-agent systems are trained to maximize shared cost objectives, which typically reflect system-level efficiency. However, in the resource-constrained environments of mobility and transportation systems, efficiency may be achieved at the…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

This research focuses on enhancing reinforcement learning (RL) algorithms by integrating penalty functions to guide agents in avoiding unwanted actions while optimizing rewards. The goal is to improve the learning process by ensuring that…

We address the problem of inverse reinforcement learning in Markov decision processes where the agent is risk-sensitive. In particular, we model risk-sensitivity in a reinforcement learning framework by making use of models of human…

In order to enable high-quality decision making and motion planning of intelligent systems such as robotics and autonomous vehicles, accurate probabilistic predictions for surrounding interactive objects is a crucial prerequisite. Although…

Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…

The main challenge of multiagent reinforcement learning is the difficulty of learning useful policies in the presence of other simultaneously learning agents whose changing behaviors jointly affect the environment's transition and reward…

Reinforcement learning (RL) has been used in a range of simulated real-world tasks, e.g., sensor coordination, traffic light control, and on-demand mobility services. However, real world deployments are rare, as RL struggles with dynamic…

Recent developments in multi-agent imitation learning have shown promising results for modeling the behavior of human drivers. However, it is challenging to capture emergent traffic behaviors that are observed in real-world datasets. Such…

Multi-agent adversarial inverse reinforcement learning (MA-AIRL) is a recent approach that applies single-agent AIRL to multi-agent problems where we seek to recover both policies for our agents and reward functions that promote expert-like…

Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…

The growing demand for road use in urban areas has led to significant traffic congestion, posing challenges that are costly to mitigate through infrastructure expansion alone. As an alternative, optimizing existing traffic management…

We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques make the often unrealistic assumption that the agent has…

Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…

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…

Inverse Reinforcement Learning (RL) can be used to determine the behavior of Space Objects (SOs) by estimating the reward function that an SO is using for control. The approach discussed in this work can be used to analyze maneuvering of…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

As AI systems become increasingly autonomous, aligning their decision-making to human preferences is essential. In domains like autonomous driving or robotics, it is impossible to write down the reward function representing these…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…