相关论文: Context-aware Mamba-based Reinforcement Learning f…

Probabilistic State Space Models (SSMs) are essential for Reinforcement Learning (RL) from high-dimensional, partial information as they provide concise representations for control. Yet, they lack the computational efficiency of their…

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…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

State-space models (SSMs), such as Mamba (Gu & Dao, 2023), have been proposed as alternatives to Transformer networks in language modeling, by incorporating gating, convolutions, and input-dependent token selection to mitigate the quadratic…

State-space models (SSMs), particularly Mamba, emerge as an efficient Transformer alternative with linear complexity for long-sequence modeling. Recent empirical works demonstrate Mamba's in-context learning (ICL) capabilities competitive…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

Motion forecasting is a crucial component of autonomous driving systems, enabling the generation of accurate and smooth future trajectories to ensure safe navigation to the destination. In previous methods, potential future trajectories are…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

Autonomous vehicles have the potential to revolutionize transportation, but they must be able to navigate safely in traffic before they can be deployed on public roads. The goal of this project is to train autonomous vehicles to make…

Model-based reinforcement learning (MBRL) allows solving complex tasks in a sample-efficient manner. However, no information is reused between the tasks. In this work, we propose a meta-learned addressing model called RAMa that provides…

Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic methods are rarely applied to Deep Reinforcement Learning (DRL)…

This paper presents a Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) model for maneuver planning. Traditional rule-based maneuver planning approaches often have to improve their abilities to handle the variabilities…

Deep Reinforcement Learning (DRL) has emerged as a powerful model-free paradigm for learning optimal policies. However, in navigation tasks with cluttered environments, DRL methods often suffer from insufficient exploration, especially…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…