相关论文: Vision-driven River Following of UAV via Safe Rein…

Reinforcement learning (RL) policies deployed in safety-critical systems, such as unmanned aerial vehicle (UAV) navigation in dynamic airspace, are vulnerable to out-ofdistribution (OOD) adversarial attacks in the observation space. These…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Autonomous driving decision-making at unsignalized intersections is highly challenging due to complex dynamic interactions and high conflict risks. To achieve proactive safety control, this paper proposes a deep reinforcement learning (DRL)…

Skin-friction drag induced by wall-bounded turbulent flows accounts for a substantial fraction of energy consumption across commercial aerospace, wind energy, and marine transport. Its active reduction is one of the highest-value targets in…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

Real-world autonomous driving must adhere to complex human social rules that extend beyond legally codified traffic regulations. Many of these semantic constraints, such as yielding to emergency vehicles, complying with traffic officers'…

An important facet of reinforcement learning (RL) has to do with how the agent goes about exploring the environment. Traditional exploration strategies typically focus on efficiency and ignore safety. However, for practical applications,…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Reinforcement learning algorithms are typically designed for discrete-time dynamics, even though the underlying real-world control systems are often continuous in time. In this paper, we study the problem of continuous-time reinforcement…

Unmanned Combat Aerial Vehicle (UCAV) Within-Visual-Range (WVR) engagement, referring to a fight between two or more UCAVs at close quarters, plays a decisive role on the aerial battlefields. With the development of artificial intelligence,…

End-to-end autonomous driving systems map sensor data directly to control commands, but remain opaque, lack interpretability, and offer no formal safety guarantees. While recent vision-language-guided reinforcement learning (RL) methods…

End-to-end autonomous driving offers a streamlined alternative to the traditional modular pipeline, integrating perception, prediction, and planning within a single framework. While Deep Reinforcement Learning (DRL) has recently gained…

This paper presents a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…

Risk-aware navigation should be selective: a policy should expose evasive degrees of freedom only when the local scene admits a lower-risk feasible maneuver, and suppress them when no safer alternative exists. We show that adding one…

Model-based reinforcement learning (RL) methods are appealing in the offline setting because they allow an agent to reason about the consequences of actions without interacting with the environment. Prior methods learn a 1-step dynamics…

With the widespread adoption of electric vehicles (EVs), navigating for EV drivers to select a cost-effective charging station has become an important yet challenging issue due to dynamic traffic conditions, fluctuating electricity prices,…

In the domain of scientific machine learning, designing effective reward functions remains a challenge in reinforcement learning (RL), particularly in environments where task goals are difficult to specify numerically. Reward functions in…

We propose a deep reinforcement learning approach for solving a mapless navigation problem in warehouse scenarios. In our approach, an automation guided vehicle is equipped with LiDAR and frontal RGB sensors and learns to perform a targeted…