相关论文: Adaptive Diffusion Terrain Generator for Autonomou…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy…

Deep reinforcement learning (RL) algorithms typically parameterize the policy as a deep network that outputs either a deterministic action or a stochastic one modeled as a Gaussian distribution, hence restricting learning to a single…

Continuous trajectory tracking control of quadrotors is complicated when considering noise from the environment. Due to the difficulty in modeling the environmental dynamics, tracking methodologies based on conventional control theory, such…

We introduce Diffusion Augmented Agents (DAAG), a novel framework that leverages large language models, vision language models, and diffusion models to improve sample efficiency and transfer learning in reinforcement learning for embodied…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

Training-free guidance enables controlled generation in diffusion and flow models, but most methods rely on gradients and assume differentiable objectives. This work focuses on training-free guidance addressing challenges from…

Training autonomous agents with sparse rewards is a long-standing problem in online reinforcement learning (RL), due to low data efficiency. Prior work overcomes this challenge by extracting useful knowledge from offline data, often…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Multi-agent reinforcement learning systems aim to provide interacting agents with the ability to collaboratively learn and adapt to the behaviour of other agents. In many real-world applications, the agents can only acquire a partial view…

Generating the motion of orchestral conductors from a given piece of symphony music is a challenging task since it requires a model to learn semantic music features and capture the underlying distribution of real conducting motion. Prior…

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

Autonomous agents trained using deep reinforcement learning (RL) often lack the ability to successfully generalise to new environments, even when these environments share characteristics with the ones they have encountered during training.…

In order to navigate safely and reliably in off-road and unstructured environments, robots must detect anomalies that are out-of-distribution (OOD) with respect to the training data. We present an analysis-by-synthesis approach for…

Model-free reinforcement learning algorithms such as Deep Deterministic Policy Gradient (DDPG) often require additional exploration strategies, especially if the actor is of deterministic nature. This work evaluates the use of model-based…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

This paper presents a robust reinforcement learning algorithm called robust deterministic policy gradient (RDPG), which reformulates the H-infinity control problem as a two-player zero-sum dynamic game between a user and an adversary. The…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in…

Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based traffic models offer flexible control to make vehicles follow specific trajectories and traffic rules. On…