相关论文: Mastering Multi-Drone Volleyball through Hierarchi…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Controlling the flight of flapping-wing drones requires versatile controllers that handle their time-varying, nonlinear, and underactuated dynamics from incomplete and noisy sensor data. Model-based methods struggle with accurate modeling,…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

Training agents in cooperative settings offers the promise of AI agents able to interact effectively with humans (and other agents) in the real world. Multi-agent reinforcement learning (MARL) has the potential to achieve this goal,…

Multiagent reinforcement learning (MARL) is commonly considered to suffer from non-stationary environments and exponentially increasing policy space. It would be even more challenging when rewards are sparse and delayed over long…

Most deep reinforcement learning algorithms are data inefficient in complex and rich environments, limiting their applicability to many scenarios. One direction for improving data efficiency is multitask learning with shared neural network…

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…

Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…

In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…

In this paper we design hybrid control policies for hybrid systems whose mathematical models are unknown. Our contributions are threefold. First, we propose a framework for modelling the hybrid control design problem as a single Markov…

Actor-critic deep reinforcement learning (DRL) algorithms have recently achieved prominent success in tackling various challenging reinforcement learning (RL) problems, particularly complex control tasks with high-dimensional continuous…

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…

We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical…

In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…

We investigate the problem of autonomous racing among teams of cooperative agents that are subject to realistic racing rules. Our work extends previous research on hierarchical control in head-to-head autonomous racing by considering a…

In dynamic urban logistics, the stochastic emergence of time-sensitive tasks poses a significant optimality challenge for heterogeneous AAVs logistics task allocation. To address this problem, a reinforcement learning enhanced overlapping…

In multi-agent reinforcement learning (MARL), the Centralized Training with Decentralized Execution (CTDE) framework is pivotal but struggles due to a gap: global state guidance in training versus reliance on local observations in…

Unmanned Aerial Vehicles (UAVs) or drones are increasingly used for urban applications like traffic monitoring and construction surveys. Autonomous navigation allows drones to visit waypoints and accomplish activities as part of their…