相关论文: Efficient Navigation Among Movable Obstacles using…

Hierarchical Reinforcement Learning (HRL) agents have the potential to demonstrate appealing capabilities such as planning and exploration with abstraction, transfer, and skill reuse. Recent successes with HRL across different domains…

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path…

Recent advancements in legged robot locomotion have facilitated traversal over increasingly complex terrains. Despite this progress, many existing approaches rely on end-to-end deep reinforcement learning (DRL), which poses limitations in…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

In neural combinatorial optimization (CO), reinforcement learning (RL) can turn a deep neural net into a fast, powerful heuristic solver of NP-hard problems. This approach has a great potential in practical applications because it allows…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…

In 5G non-standalone mode, an intelligent traffic steering mechanism can vastly aid in ensuring smooth user experience by selecting the best radio access technology (RAT) from a multi-RAT environment for a specific traffic flow. In this…

Effective governance and steering of behavior in complex multi-agent systems (MAS) are essential for managing system-wide outcomes, particularly in environments where interactions are structured by dynamic networks. In many applications,…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

Manipulating a deformable linear object (DLO) such as wire, cable, and rope is a common yet challenging task due to their high degrees of freedom and complex deformation behaviors, especially in an environment with obstacles. Existing local…

We introduce Hierarchical Transformers for Meta-Reinforcement Learning (HTrMRL), a powerful online meta-reinforcement learning approach. HTrMRL aims to address the challenge of enabling reinforcement learning agents to perform effectively…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…

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,…

Solving real-world complex tasks using reinforcement learning (RL) without high-fidelity simulation environments or large amounts of offline data can be quite challenging. Online RL agents trained in imperfect simulation environments can…

This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…