相关论文: Generation of Geodesics with Actor-Critic Reinforc…

This paper aims to explore the problem of trajectory prediction in heterogeneous pedestrian zones, where social dynamics representation is a big challenge. Proposed is an end-to-end learning framework for prediction accuracy improvement…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Continuous control is a widely applicable area of reinforcement learning. The main players of this area are actor-critic methods that utilize policy gradients of neural approximators as a common practice. The focus of our study is to show…

In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. However, its differentiable MPC layer requires repeatedly solving…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Identification and analysis of symmetrical patterns in the natural world have led to significant discoveries across various scientific fields, such as the formulation of gravitational laws in physics and advancements in the study of…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

We present a new approach to ensemble learning. Our approach constructs a tree of subsets of the feature space and associates a predictor (predictive model) - determined by training one of a given family of base learners on an endogenously…

In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network…

Exploration in multi-agent reinforcement learning is a challenging problem, especially in environments with sparse rewards. We propose a general method for efficient exploration by sharing experience amongst agents. Our proposed algorithm,…

A central task in control theory, artificial intelligence, and formal methods is to synthesize reward-maximizing strategies for agents that operate in partially unknown environments. In environments modeled by gray-box Markov decision…

Active traffic management with autonomous vehicles offers the potential for reduced congestion and improved traffic flow. However, developing effective algorithms for real-world scenarios requires overcoming challenges related to…

The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for robot locomotion, individual skills are…

This paper introduces an active learning framework for manifold Gaussian Process (GP) regression, combining manifold learning with strategic data selection to improve accuracy in high-dimensional spaces. Our method jointly optimizes a…

Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…

Solving the so-called geodesic endpoint problem, i.e., finding a geodesic that connects two given points on a manifold, is at the basis of virtually all data processing operations, including averaging, clustering, interpolation and…

Pretraining with expert demonstrations have been found useful in speeding up the training process of deep reinforcement learning algorithms since less online simulation data is required. Some people use supervised learning to speed up the…

This paper presents a novel method for accelerating path-planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of…

This work addresses the classic machine learning problem of online prediction with expert advice. A new potential-based framework for the fixed horizon version of this problem has been recently developed using verification arguments from…

\Ac{MPC} and \ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \ac{RL} techniques can be leveraged to improve the performance of \ac{MPC}. The \ac{RL} critic is used…