相关论文: Reinforcement Learning with Physics-Informed Symbo…
Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…
Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…
Reinforcement learning and symbolic planning have both been used to build intelligent autonomous agents. Reinforcement learning relies on learning from interactions with real world, which often requires an unfeasibly large amount of…
Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this with PRM-RL, a hierarchical robot navigation method in which…
A multi-agent deep reinforcement learning (DRL)-based model is presented in this study to reconstruct flow fields from noisy data. A combination of the reinforcement learning with pixel-wise rewards (PixelRL), physical constraints…
Current neural decoding methods typically aim at explaining behavior based on neural activity via supervised learning. However, since generally there is a strong connection between learning of subjects and their expectations on long-term…
This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…
Symbolic task representation is a powerful tool for encoding human instructions and domain knowledge. Such instructions guide robots to accomplish diverse objectives and meet constraints through reinforcement learning (RL). Most existing…
Preference-based reinforcement learning (PbRL) has emerged as a promising paradigm for teaching robots complex behaviors without reward engineering. However, its effectiveness is often limited by two critical challenges: the reliance on…
This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…
We introduce a reinforcement learning (RL) environment to design and benchmark control strategies aimed at reducing drag in turbulent fluid flows enclosed in a channel. The environment provides a framework for computationally-efficient,…
Training robots to perform complex control tasks from high-dimensional pixel input using reinforcement learning (RL) is sample-inefficient, because image observations are comprised primarily of task-irrelevant information. By contrast,…
Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…
VLMs excel at static perception but falter in interactive reasoning in dynamic physical environments, which demands planning and adaptation to dynamic outcomes. Existing physical reasoning methods often depend on abstract symbolic inputs or…
Compressed prompts aid instruction-tuned language models (LMs) in overcoming context window limitations and reducing computational costs. Existing methods, which primarily based on training embeddings, face various challenges associated…
Deep reinforcement learning (DRL) provides a promising way for intelligent agents (e.g., autonomous vehicles) to learn to navigate complex scenarios. However, DRL with neural networks as function approximators is typically considered a…
Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering…
Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…
The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…
Deep reinforcement learning (DRL) has achieved significant breakthroughs in various tasks. However, most DRL algorithms suffer a problem of generalizing the learned policy which makes the learning performance largely affected even by minor…