相关论文: NavG: Risk-Aware Navigation in Crowded Environment…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the range sensor because its input format is fixed. In this…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

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…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace overly conservative approaches and promises more efficient…

In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…

A platoon refers to a group of vehicles traveling together in very close proximity using automated driving technology. Owing to its immense capacity to improve fuel efficiency, driving safety, and driver comfort, platooning technology has…

Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…

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…

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.…

Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…