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

For real-world navigation, it is important to endow robots with the capabilities to navigate safely and efficiently in a complex environment with both dynamic and non-convex static obstacles. However, achieving path-finding in non-convex…

Recent Multi-Agent Reinforcement Learning (MARL) literature has been largely focused on Centralized Training with Decentralized Execution (CTDE) paradigm. CTDE has been a dominant approach for both cooperative and mixed environments due to…

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face…

Physics-informed machine learning (PIML) has emerged as a promising alternative to classical methods for predicting dynamical systems, offering faster and more generalizable solutions. However, existing models, including recurrent neural…

We introduce LocoMamba, a vision-driven cross-modal DRL framework built on selective state-space models, specifically leveraging Mamba, that achieves near-linear-time sequence modeling, effectively captures long-range dependencies, and…

State space models (SSMs) with selection mechanisms and hardware-aware architectures, namely Mamba, have recently demonstrated significant promise in long-sequence modeling. Since the self-attention mechanism in transformers has quadratic…

This paper introduces Bio-Inspired Mamba (BIM), a novel online learning framework for selective state space models that integrates biological learning principles with the Mamba architecture. BIM combines Real-Time Recurrent Learning (RTRL)…

Accurate traffic prediction plays a vital role in intelligent transportation systems by enabling efficient routing, congestion mitigation, and proactive traffic control. However, forecasting is challenging due to the combined effects of…

Recent advances in deep learning structured state space models, especially the Mamba architecture, have demonstrated remarkable performance improvements while maintaining linear complexity. In this study, we introduce functional…

Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-based RRTs with Control Barrier Functions (CBFs) to generate,…

Decision Transformer, a promising approach that applies Transformer architectures to reinforcement learning, relies on causal self-attention to model sequences of states, actions, and rewards. While this method has shown competitive…

Safety is a critical concern when deploying reinforcement learning agents for realistic tasks. Recently, safe reinforcement learning algorithms have been developed to optimize the agent's performance while avoiding violations of safety…

Accurate driving behavior modeling is fundamental to safe and efficient trajectory prediction, yet remains challenging in complex traffic scenarios. This paper presents a novel Inverse Reinforcement Learning (IRL) framework that captures…

Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local…

Reinforcement learning (RL) methods for social robot navigation show great success navigating robots through large crowds of people, but the performance of these learning-based methods tends to degrade in particularly challenging or…

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,…

Deep learning has profoundly transformed remote sensing, yet prevailing architectures like Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs) remain constrained by critical trade-offs: CNNs suffer from limited receptive…

Context modeling is critical for remote sensing image dense prediction tasks. Nowadays, the growing size of very-high-resolution (VHR) remote sensing images poses challenges in effectively modeling context. While transformer-based models…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…