相关论文: Efficient Navigation Among Movable Obstacles using…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

We consider a Continual Reinforcement Learning setup, where a learning agent must continuously adapt to new tasks while retaining previously acquired skill sets, with a focus on the challenge of avoiding forgetting past gathered knowledge…

Hierarchical Reinforcement Learning (HRL) is well-suitedd for solving complex tasks by breaking them down into structured policies. However, HRL agents often struggle with efficient exploration and quick adaptation. To overcome these…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

Adaptive traffic signal control (ATSC) is essential for mitigating urban congestion in modern smart cities, where traffic infrastructure is evolving into interconnected Web-of-Things (WoT) environments with thousands of sensing-and-control…

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…

Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…

Autonomous mobile manipulation in unstructured warehouses requires a balance between efficient large-scale navigation and high-precision object interaction. Traditional end-to-end learning approaches often struggle to handle the conflicting…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object…

Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…

Hierarchical reinforcement learning (HRL) provides a promising solution for complex tasks with sparse rewards of intelligent agents, which uses a hierarchical framework that divides tasks into subgoals and completes them sequentially.…

In recent years, robots and autonomous systems have become increasingly integral to our daily lives, offering solutions to complex problems across various domains. Their application in search and rescue (SAR) operations, however, presents…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…

Traffic optimization challenges, such as load balancing, flow scheduling, and improving packet delivery time, are difficult online decision-making problems in wide area networks (WAN). Complex heuristics are needed for instance to find…

Mobile Manipulation (MM) systems are ideal candidates for taking up the role of a personal assistant in unstructured real-world environments. Among other challenges, MM requires effective coordination of the robot's embodiments for…

We present GRL-SNAM, a geometric reinforcement learning framework for Simultaneous Navigation and Mapping(SNAM) in unknown environments. A SNAM problem is challenging as it needs to design hierarchical or joint policies of multiple agents…

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…

The framework of mixed observable Markov decision processes (MOMDP) models many robotic domains in which some state variables are fully observable while others are not. In this work, we identify a significant subclass of MOMDPs defined by…