相关论文: Reinforcement Learning for Adaptive Planner Parame…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Classical navigation systems typically operate using a fixed set of hand-picked parameters (e.g. maximum speed, sampling rate, inflation radius, etc.) and require heavy expert re-tuning in order to work in new environments. To mitigate this…

The performance of modern reinforcement learning algorithms critically relies on tuning ever-increasing numbers of hyperparameters. Often, small changes in a hyperparameter can lead to drastic changes in performance, and different…

Quadratic programming is a workhorse of modern nonlinear optimization, control, and data science. Although regularized methods offer convergence guarantees under minimal assumptions on the problem data, they can exhibit the slow…

We explore Deep Reinforcement Learning in a parameterized action space. Specifically, we investigate how to achieve sample-efficient end-to-end training in these tasks. We propose a new compact architecture for the tasks where the parameter…

Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These systems are sensitive to global path…

Machine learning pipeline potentially consists of several stages of operations like data preprocessing, feature engineering and machine learning model training. Each operation has a set of hyper-parameters, which can become irrelevant for…

We propose a new approach for solving planning problems with a hierarchical structure, fusing reinforcement learning and MPC planning. Our formulation tightly and elegantly couples the two planning paradigms. It leverages reinforcement…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

With the impact of real-time processing being realized in the recent past, the need for efficient implementations of reinforcement learning algorithms has been on the rise. Albeit the numerous advantages of Bellman equations utilized in RL…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Inspection and maintenance are two crucial aspects of industrial pipeline plants. While robotics has made tremendous progress in the mechanic design of in-pipe inspection robots, the autonomous control of such robots is still a big open…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Parameter-efficient fine-tuning aims to achieve performance comparable to fine-tuning, using fewer trainable parameters. Several strategies (e.g., Adapters, prefix tuning, BitFit, and LoRA) have been proposed. However, their designs are…

The effectiveness of the machine learning methods for real-world tasks depends on the proper structure of the modeling pipeline. The proposed approach is aimed to automate the design of composite machine learning pipelines, which is…

Optimization of hyper-parameters in reinforcement learning (RL) algorithms is a key task, because they determine how the agent will learn its policy by interacting with its environment, and thus what data is gathered. In this work, an…

The thermal system of battery electric vehicles demands advanced control. Its thermal management needs to effectively control active components across varying operating conditions. While robust control function parametrization is required,…