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

Geodesic metric spaces support a variety of averaging constructions for given finite sets. Computing such averages has generated extensive interest in diverse disciplines. Here we consider the inverse problem of recognizing computationally…

The aim of path planning is to reach the goal from starting point by searching for the route of an agent. In the path planning, the routes may vary depending on the number of variables such that it is important for the agent to reach…

We present a non-asymptotic convergence analysis of $Q$-learning and actor-critic algorithms for robust average-reward Markov Decision Processes (MDPs) under contamination, total-variation (TV) distance, and Wasserstein uncertainty sets. A…

Generative Adversarial Networks (GANs) are a powerful framework for deep generative modeling. Posed as a two-player minimax problem, GANs are typically trained end-to-end on real-valued data and can be used to train a generator of…

Policy gradient algorithms have proven to be successful in diverse decision making and control tasks. However, these methods suffer from high sample complexity and instability issues. In this paper, we address these challenges by providing…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. Even in simpler environments, finding a minimal sequence, or…

Understanding and predicting dynamics of the physical world can enhance a robot's ability to plan and interact effectively in complex environments. While recent video generation models have shown strong potential in modeling dynamic scenes,…

We propose a novel and flexible approach to meta-learning for learning-to-learn from only a few examples. Our framework is motivated by actor-critic reinforcement learning, but can be applied to both reinforcement and supervised learning.…

Most approaches to visual scene analysis have emphasised parallel processing of the image elements. However, one area in which the sequential nature of vision is apparent, is that of segmenting multiple, potentially similar and partially…

The partially observable Markov decision process (POMDP) is a principled general framework for robot decision making under uncertainty, but POMDP planning suffers from high computational complexity, when long-term planning is required.…

We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…

In this paper we explore how actor-critic methods in deep reinforcement learning, in particular Asynchronous Advantage Actor-Critic (A3C), can be extended with agent modeling. Inspired by recent works on representation learning and…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

In this paper, we consider the problem of actor-critic reinforcement learning. Firstly, we extend the actor-critic architecture to actor-critic-N architecture by introducing more critics beyond rewards. Secondly, we combine the reward-based…

In this paper, we devise a distributional framework on actor-critic as a solution to distributional instability, action type restriction, and conflation between samples and statistics. We propose a new method that minimizes the Cram\'er…

We perform an experimental evaluation of algorithms for finding geodesic shortest paths between two points inside a simple polygon in the constant-workspace model. In this model, the input resides in a read-only array that can be accessed…

Object-Centric Motion Generation (OCMG) is instrumental in advancing automated manufacturing processes, particularly in domains requiring high-precision expert robotic motions, such as spray painting and welding. To realize effective…

Motivated by the recent applications of game-theoretical learning techniques to the design of distributed control systems, we study a class of control problems that can be formulated as potential games with continuous action sets, and we…

Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…