相关论文: SoNIC: Safe Social Navigation with Adaptive Confor…

Artificial intelligence (AI) and reinforcement learning (RL) have shown significant promise in wireless systems, enabling dynamic spectrum allocation, traffic management, and large-scale Internet of Things (IoT) coordination. However, their…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

Navigating human-populated environments without causing discomfort is a critical capability for socially-aware agents. While rule-based approaches offer interpretability through predefined psychological principles, they often lack…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…

AI systems empowered by reinforcement learning (RL) algorithms harbor the immense potential to catalyze societal advancement, yet their deployment is often impeded by significant safety concerns. Particularly in safety-critical…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

This paper reports on learning a reward map for social navigation in dynamic environments where the robot can reason about its path at any time, given agents' trajectories and scene geometry. Humans navigating in dense and dynamic indoor…

Robots navigating in human crowds need to optimize their paths not only for their task performance but also for their compliance to social norms. One of the key challenges in this context is the lack of standard metrics for evaluating and…

Planning through crowded environments under uncertain obstacle motions remains difficult, as stochastic interactions often induce overly conservative behavior or reduced efficiency. To address this challenge, we propose an end-to-end risk…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…

Safe reinforcement learning (RL) aims to learn policies that satisfy certain constraints before deploying them to safety-critical applications. Previous primal-dual style approaches suffer from instability issues and lack optimality…

Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the application of RL to real-world control problems, especially…

The application of reinforcement learning algorithms onto real life problems always bears the challenge of filtering the environmental state out of raw sensor readings. While most approaches use heuristics, biology suggests that there must…

Reinforcement learning (RL) has recently been used for solving challenging decision-making problems in the context of automated driving. However, one of the main drawbacks of the presented RL-based policies is the lack of safety guarantees,…