相关论文: MAER-Nav: Bidirectional Motion Learning Through Mi…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and efficient task-specific trajectories. This framework is…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…

Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids requires overcoming significant morphological mismatches.…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

It is essential for an automated vehicle in the field to perform discretionary lane changes with appropriate roadmanship - driving safely and efficiently without annoying or endangering other road users - under a wide range of traffic…

Traditional visual navigation methods of micro aerial vehicle (MAV) usually calculate a passable path that satisfies the constraints depending on a prior map. However, these methods have issues such as high demand for computing resources…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

Drones are vital for urban emergency search and rescue (SAR) due to the challenges of navigating dynamic environments with obstacles like buildings and wind. This paper presents a method that combines multi-objective reinforcement learning…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

This paper presents a hierarchical decision-making framework for autonomous navigation in four-wheel independent steering and driving (4WISD) systems. The proposed approach integrates deep reinforcement learning (DRL) for high-level…

Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…

Robots have been successfully used to perform tasks with high precision. In real-world environments with sparse rewards and multiple goals, learning is still a major challenge and Reinforcement Learning (RL) algorithms fail to learn good…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

Deep learning (DL) has achieved great success in many applications, but it has been less well analyzed from the theoretical perspective. The unexplainable success of black-box DL models has raised questions among scientists and promoted the…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…