相关论文: BAMAX: Backtrack Assisted Multi-Agent Exploration …

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

Multi-agent reinforcement learning (MARL) algorithms often struggle to find strategies close to Pareto optimal Nash Equilibrium, owing largely to the lack of efficient exploration. The problem is exacerbated in sparse-reward settings,…

Exploration is critical for good results in deep reinforcement learning and has attracted much attention. However, existing multi-agent deep reinforcement learning algorithms still use mostly noise-based techniques. Very recently,…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Reinforcement learning algorithms commonly seek to optimize policies for solving one particular task. How should we explore an unknown dynamical system such that the estimated model globally approximates the dynamics and allows us to solve…

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

Multi-agent Reinforcement Learning (MARL) has gained wide attention in recent years and has made progress in various fields. Specifically, cooperative MARL focuses on training a team of agents to cooperatively achieve tasks that are…

Learning from diverse offline datasets is a promising path towards learning general purpose robotic agents. However, a core challenge in this paradigm lies in collecting large amounts of meaningful data, while not depending on a human in…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that…

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…

Many scenarios in mobility and traffic involve multiple different agents that need to cooperate to find a joint solution. Recent advances in behavioral planning use Reinforcement Learning to find effective and performant behavior…

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…

Multi-Agent Reinforcement Learning (MARL) approaches have emerged as popular solutions to address the general challenges of cooperation in multi-agent environments, where the success of achieving shared or individual goals critically…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…

In a multi-agent system, agents share their local observations to gain global situational awareness for decision making and collaboration using a message passing system. When to send a message, how to encode a message, and how to leverage…

Autonomous vehicles are suited for continuous area patrolling problems. Finding an optimal patrolling strategy can be challenging due to unknown environmental factors, such as wind or landscape; or autonomous vehicles' constraints, such as…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…