相关论文: A Role of Environmental Complexity on Representati…

Reinforcement learning (RL) agents improve through trial-and-error, but when reward is sparse and the agent cannot discover successful action sequences, learning stagnates. This has been a notable problem in training deep RL agents to…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Learning in environments with large state and action spaces, and sparse rewards, can hinder a Reinforcement Learning (RL) agent's learning through trial-and-error. For instance, following natural language instructions on the Web (such as…

This paper surveys the field of deep multiagent reinforcement learning. The combination of deep neural networks with reinforcement learning has gained increased traction in recent years and is slowly shifting the focus from single-agent to…

Deep neural networks (DNNs) often rely on easy-to-learn discriminatory features, or cues, that are not necessarily essential to the problem at hand. For example, ducks in an image may be recognized based on their typical background scenery,…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

Visual domain randomization in simulated environments is a widely used method to transfer policies trained in simulation to real robots. However, domain randomization and augmentation hamper the training of a policy. As reinforcement…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the influence of spatial constraints on agents' performance. Yet hand-designing conducive environment layouts…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Wilderness search and rescue operations are often carried out over vast landscapes. The search efforts, however, must be undertaken in minimum time to maximize the chance of survival of the victim. Whilst the advent of cheap multicopters in…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Computational agents support humans in many areas of life and are therefore found in heterogeneous contexts. This means they operate in rapidly changing environments and can be confronted with huge state and action spaces. In order to…

When deployed, AI agents will encounter problems that are beyond their autonomous problem-solving capabilities. Leveraging human assistance can help agents overcome their inherent limitations and robustly cope with unfamiliar situations. We…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

Despite the significant advances in Deep Reinforcement Learning (RL) observed in the last decade, the amount of training experience necessary to learn effective policies remains one of the primary concerns in both simulated and real…

Reinforcement learning algorithms can train agents that solve problems in complex, interesting environments. Normally, the complexity of the trained agent is closely related to the complexity of the environment. This suggests that a highly…