相关论文: GRaD-Nav: Efficiently Learning Visual Drone Naviga…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

Deep Reinforcement Learning (DRL) is regarded as a potential method for car-following control and has been mostly studied to support a single following vehicle. However, it is more challenging to learn a stable and efficient car-following…

There is an increasing demand for using Unmanned Aerial Vehicle (UAV), known as drones, in different applications such as packages delivery, traffic monitoring, search and rescue operations, and military combat engagements. In all of these…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

Deep reinforcement learning (DRL) has achieved remarkable progress in online path planning tasks for multi-UAV systems. However, existing DRL-based methods often suffer from performance degradation when tackling unseen scenarios, since the…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

In recent years, Deep Reinforcement Learning (DRL) has emerged as a promising method for robot collision avoidance. However, such DRL models often come with limitations, such as adapting effectively to structured environments containing…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

Efficient mission planning for cooperative systems involving Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) requires addressing energy constraints, scalability, and coordination challenges between agents. UAVs excel in…

Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…

Deep Reinforcement Learning is quickly becoming a popular method for training autonomous Unmanned Aerial Vehicles (UAVs). Our work analyzes the effects of measurement uncertainty on the performance of Deep Reinforcement Learning (DRL) based…