相关论文: Automating Transfer of Robot Task Plans using Func…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

Automated planning technology has developed significantly. Designing a planning model that allows an automated agent to be capable of reacting intelligently to unexpected events in a real execution environment yet remains a challenge. This…

Transferring high-level knowledge from a source task to a target task is an effective way to expedite reinforcement learning (RL). For example, propositional logic and first-order logic have been used as representations of such knowledge.…

The transition of control from autonomous systems to human drivers is critical in automated driving systems, particularly due to the out-of-the-loop (OOTL) circumstances that reduce driver readiness and increase reaction times. Existing…

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…

Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…

In this note we propose a method based on artificial neural network to study the transition between states governed by stochastic processes. In particular, we aim for numerical schemes for the committor function, the central object of…

Transformer networks have seen great success in natural language processing and machine vision, where task objectives such as next word prediction and image classification benefit from nuanced context sensitivity across high-dimensional…

Although many studies have successfully applied transfer learning to medical image segmentation, very few of them have investigated the selection strategy when multiple source tasks are available for transfer. In this paper, we propose a…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…

Decision Transformer-based decision-making agents have shown the ability to generalize across multiple tasks. However, their performance relies on massive data and computation. We argue that this inefficiency stems from the forgetting…

Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…

The main goal of this research is to develop the concepts of a revolutionary processor system called Functional Processor System. The fairly novel work carried out in this proposal concentrates on decoding of function pipelines and…

This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the…

Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…