相关论文: GUIDEd Agents: Enhancing Navigation Policies throu…
Robots navigating complex environments must manage uncertainty from sensor noise, environmental changes, and incomplete information, with different tasks requiring varying levels of precision in different areas. For example, precise…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…
Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
Reliable localization is an essential capability for marine robots navigating in GPS-denied environments. SLAM, commonly used to mitigate dead reckoning errors, still fails in feature-sparse environments or with limited-range sensors. Pose…
We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…