相关论文: POMDP-Driven Cognitive Massive MIMO Radar: Joint T…

Urban intersections represent a complex environment for autonomous vehicles with many sources of uncertainty. The vehicle must plan in a stochastic environment with potentially rapid changes in driver behavior. Providing an efficient…

Although research has produced promising results demonstrating the utility of active inference (AIF) in Markov decision processes (MDPs), there is relatively less work that builds AIF models in the context of environments and problems that…

We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…

The problem of detection and possible estimation of a signal generated by a dynamic system when a variable number of noisy measurements can be taken is here considered. Assuming a Markov evolution of the system (in particular, the pair…

Developing foundational world models is a key research direction for embodied intelligence, with the ability to adapt to non-stationary environments being a crucial criterion. In this work, we introduce a new formalism, Hidden…

Deep Reinforcement Learning (DRL) has made considerable advances in simulated and physical robot control tasks, especially when problems admit a fully observed Markov Decision Process (MDP) formulation. When observations only partially…

Recent benchmarks for memory-augmented reinforcement learning (RL) have introduced partially observable Markov decision process (POMDP) environments in which agents must use historical observations to make decisions. However, these…

We introduce missingness-MDPs (miss-MDPs), a novel subclass of partially observable Markov decision processes (POMDPs) that incorporates the theory of missing data. A miss-MDP is a POMDP whose observation function is a missingness function,…

Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

In recent years several learning approaches to point goal navigation in previously unseen environments have been proposed. They vary in the representations of the environments, problem decomposition, and experimental evaluation. In this…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

Possibilistic and qualitative POMDPs (pi-POMDPs) are counterparts of POMDPs used to model situations where the agent's initial belief or observation probabilities are imprecise due to lack of past experiences or insufficient data…

Real-world sequential decision making problems commonly involve partial observability, which requires the agent to maintain a memory of history in order to infer the latent states, plan and make good decisions. Coping with partial…

In real-world scenarios, the observation data for reinforcement learning with continuous control is commonly noisy and part of it may be dynamically missing over time, which violates the assumption of many current methods developed for…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

We consider a distributionally robust Partially Observable Markov Decision Process (DR-POMDP), where the distribution of the transition-observation probabilities is unknown at the beginning of each decision period, but their realizations…

Autonomous vehicles are conceived to provide safe and secure services by validating the safety standards as indicated by SOTIF-ISO/PAS-21448 (Safety of the intended functionality). Keeping in this context, the perception of the environment…

In this paper, adaptive training beam sequence design for efficient channel estimation in large millimeter-wave(mmWave) multiple-input multiple-output (MIMO) channels is considered. By exploiting the sparsity in large mmWave MIMO channels…

This paper addresses a fundamental question of multi-agent knowledge distribution: what information should be sent to whom and when, with the limited resources available to each agent? Communication requirements for multi-agent systems can…