相关论文: PER-DPP Sampling Framework and Its Application in …

Randomized experiments are the gold standard for causal inference but face significant challenges in business applications, including limited traffic allocation, the need for heterogeneous treatment effect estimation, and the complexity of…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

The last decade has witnessed growth in the computational requirements for training deep neural networks. Current approaches (e.g., data/model parallelism, pipeline parallelism) parallelize training tasks onto multiple devices. However,…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…

Deep Reinforcement Learning (DRL) has emerged as a promising approach for solving Combinatorial Optimization (CO) problems, such as the 3D Bin Packing Problem (3D-BPP), Traveling Salesman Problem (TSP), or Vehicle Routing Problem (VRP), but…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…

Autonomous driving is an emerging technology that has advanced rapidly over the last decade. Modern transportation is expected to benefit greatly from a wise decision-making framework of autonomous vehicles, including the improvement of…

Autonomous driving has advanced significantly due to sensors, machine learning, and artificial intelligence improvements. However, prevailing methods struggle with intricate scenarios and causal relationships, hindering adaptability and…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

Due to the sparse rewards and high degree of environment variation, reinforcement learning approaches such as Deep Deterministic Policy Gradient (DDPG) are plagued by issues of high variance when applied in complex real world environments.…

Hyperparameter selection in continual learning scenarios is a challenging and underexplored aspect, especially in practical non-stationary environments. Traditional approaches, such as grid searches with held-out validation data from all…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

Recently, preference optimization methods such as DPO have significantly enhanced large language models (LLMs) in wide tasks including dialogue and question-answering. However, current methods fail to account for the varying difficulty…

In the context of an efficient network traffic engineering process where the network continuously measures a new traffic matrix and updates the set of paths in the network, an automated process is required to quickly and efficiently…

To predict a set of diverse and informative proposals with enriched representations, this paper introduces a differentiable Determinantal Point Process (DPP) layer that is able to augment the object detection architectures. Most modern…

In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware…