相关论文: Enhancing Deep Reinforcement Learning-based Robot …

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Deep Reinforcement Learning (DRL) is hugely successful due to the availability of realistic simulated environments. However, performance degradation during simulation to real-world transfer still remains a challenging problem for the…

Dataset augmentation, the practice of applying a wide array of domain-specific transformations to synthetically expand a training set, is a standard tool in supervised learning. While effective in tasks such as visual recognition, the set…

The generalization ability of visuomotor policy is crucial, as a good policy should be deployable across diverse scenarios. Some methods can collect large amounts of trajectory augmentation data to train more generalizable imitation…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Reinforcement Learning is an area of Machine Learning focused on how agents can be trained to make sequential decisions, and achieve a particular goal within an arbitrary environment. While learning, they repeatedly take actions based on…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Learning policies which are robust to changes in the environment are critical for real world deployment of Reinforcement Learning agents. They are also necessary for achieving good generalization across environment shifts. We focus on…