相关论文: Dynamic Obstacle Avoidance with Bounded Rationalit…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Adoption of machine learning (ML)-enabled cyber-physical systems (CPS) are becoming prevalent in various sectors of modern society such as transportation, industrial, and power grids. Recent studies in deep reinforcement learning (DRL) have…

Deep reinforcement learning (RL) can enable robots to autonomously acquire complex behaviors, such as legged locomotion. However, RL in the real world is complicated by constraints on efficiency, safety, and overall training stability,…

Real-world tasks are often highly structured. Hierarchical reinforcement learning (HRL) has attracted research interest as an approach for leveraging the hierarchical structure of a given task in reinforcement learning (RL). However,…

In multi-agent safety-critical scenarios, traditional autonomous driving frameworks face significant challenges in balancing safety constraints and task performance. These frameworks struggle to quantify dynamic interaction risks in…

Reinforcement learning-based mapless navigation holds significant potential. However, it faces challenges in indoor environments with local minima area. This paper introduces a safe mapless navigation framework utilizing hierarchical…

Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness. Small perturbations to sensor inputs…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Reinforcement Learning (RL) faces significant challenges in adaptive healthcare interventions, such as dementia care, where data is scarce, decisions require interpretability, and underlying patient-state dynamic are complex and causal in…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

Reinforcement learning (RL) agents need to be robust to variations in safety-critical environments. While system identification methods provide a way to infer the variation from online experience, they can fail in settings where fast…

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…

Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When…

Recent studies reveal that a well-trained deep reinforcement learning (RL) policy can be particularly vulnerable to adversarial perturbations on input observations. Therefore, it is crucial to train RL agents that are robust against any…

Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task spaces often lack a well-defined difficulty structure, making…

Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…

Human decision-making errors cause a majority of globally reported marine accidents. As a result, automation in the marine industry has been gaining more attention in recent years. Obstacle avoidance becomes very challenging for an…

Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…