相关论文: A Goal-Oriented Reinforcement Learning-Based Path …

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…

Reinforcement learning and planning methods require an objective or reward function that encodes the desired behavior. Yet, in practice, there is a wide range of scenarios where an objective is difficult to provide programmatically, such as…

Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…

Offline Goal-Conditioned Reinforcement Learning seeks to train agents to reach specified goals from previously collected trajectories. Scaling that promises to long-horizon tasks remains challenging, notably due to compounding…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…

Sparse reward problems are one of the biggest challenges in Reinforcement Learning. Goal-directed tasks are one such sparse reward problems where a reward signal is received only when the goal is reached. One promising way to train an agent…

Reinforcement Learning algorithms are primarily focused on learning a policy that maximizes expected return. As a result, the learned policy can exploit one or few reward sources. However, in many natural situations, it is desirable to…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Multi-task reinforcement learning endeavors to accomplish a set of different tasks with a single policy. To enhance data efficiency by sharing parameters across multiple tasks, a common practice segments the network into distinct modules…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

We study the problem of efficiently estimating policies that simultaneously optimize multiple objectives in reinforcement learning (RL). Given $n$ objectives (or tasks), we seek the optimal partition of these objectives into $k \ll n$…

This work investigates the formal policy synthesis of continuous-state stochastic dynamic systems given high-level specifications in linear temporal logic. To learn an optimal policy that maximizes the satisfaction probability, we take a…

Optimizing space vehicle routing is crucial for critical applications such as on-orbit servicing, constellation deployment, and space debris de-orbiting. Multi-target Rendezvous presents a significant challenge in this domain. This problem…

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.…

Multi-objective Markov decision processes are a special kind of multi-objective optimization problem that involves sequential decision making while satisfying the Markov property of stochastic processes. Multi-objective reinforcement…

Reinforcement learning is an effective way to solve the decision-making problems. It is a meaningful and valuable direction to investigate autonomous air combat maneuver decision-making method based on reinforcement learning. However, when…

Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks…

A major goal of materials design is to find material structures with desired properties and in a second step to find a processing path to reach one of these structures. In this paper, we propose and investigate a deep reinforcement learning…

Data-driven inverse optimization for mixed-integer linear programs (MILPs), which seeks to learn an objective function and constraints consistent with observed decisions, is important for building accurate mathematical models in a variety…