相关论文: HASARD: A Benchmark for Vision-Based Safe Reinforc…

Learning a risk-aware policy is essential but rather challenging in unstructured robotic tasks. Safe reinforcement learning methods open up new possibilities to tackle this problem. However, the conservative policy updates make it…

The deployment of autonomous robots in safety-critical applications requires safety guarantees. Provably safe reinforcement learning is an active field of research that aims to provide such guarantees using safeguards. These safeguards…

Ensuring the safety of autonomous vehicles (AVs) requires identifying rare but critical failure cases that on-road testing alone cannot discover. High-fidelity simulations provide a scalable alternative, but automatically generating…

The development of reinforcement learning (RL) algorithms has been largely driven by ambitious challenge tasks and benchmarks. Games have dominated RL benchmarks because they present relevant challenges, are inexpensive to run and easy to…

Artificial intelligence is increasingly catalyzing scientific automation, with multimodal large language model (MLLM) agents evolving from lab assistants into self-driving lab operators. This transition imposes stringent safety requirements…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

Navigation in the real-world is hard and filled with complex scenarios. The Benchmark Autonomous Robot Navigation (BARN) Challenge is a competition that focuses on highly constrained spaces. Teams compete using a standard platform in a…

A key challenge in training generally-capable agents is the design of training tasks that facilitate broad generalization and robustness to environment variations. This challenge motivates the problem setting of Unsupervised Environment…

This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcement learning approach with hierarchical…

One of the main challenges in reinforcement learning (RL) is generalisation. In typical deep RL methods this is achieved by approximating the optimal value function with a low-dimensional representation using a deep network. While this…

Reinforcement Learning (RL) uses rewards to guide learning, yet reward design is typically hand-crafted using heuristics that can be difficult to tune. We propose a Control Barrier Function (CBF)-informed reward design for Multi-Agent RL…

An important goal of research in Deep Reinforcement Learning in mobile robotics is to train agents capable of solving complex tasks, which require a high level of scene understanding and reasoning from an egocentric perspective. When…

Autonomous agents have rapidly matured as task executors and seen widespread deployment via harnesses such as OpenClaw. Safety concerns have rightly drawn growing research attention, and beneath them lie the values silently steering agent…

We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i)…

Reinforcement Learning (RL) can be extremely effective in solving complex, real-world problems. However, injecting human knowledge into an RL agent may require extensive effort and expertise on the human designer's part. To date, human…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

Large Language Models (LLMs) exhibit substantial promise in enhancing task-planning capabilities within embodied agents due to their advanced reasoning and comprehension. However, the systemic safety of these agents remains an underexplored…

Learning from Hallucination (LfH) is a recent machine learning paradigm for autonomous navigation, which uses training data collected in completely safe environments and adds numerous imaginary obstacles to make the environment densely…

Reinforcement learning (RL) promises to enable autonomous acquisition of complex behaviors for diverse agents. However, the success of current reinforcement learning algorithms is predicated on an often under-emphasised requirement -- each…

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers…