相关论文: Curriculum Imitation Learning of Distributed Multi…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior. It is common to frame imitation learning as a supervised learning problem in which one fits a function approximator to the…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Microscopic traffic simulation plays a crucial role in transportation engineering by providing insights into individual vehicle behavior and overall traffic flow. However, creating a realistic simulator that accurately replicates human…

Many real-world problems require trading off multiple competing objectives. However, these objectives are often in different units and/or scales, which can make it challenging for practitioners to express numerical preferences over…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

We study the problem of programmatic reinforcement learning, in which policies are represented as short programs in a symbolic language. Programmatic policies can be more interpretable, generalizable, and amenable to formal verification…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

For long-term deployment in dynamic real-world environments, assistive robots must continue to learn and adapt to their environments. Researchers have developed various computational models for continual learning (CL) that can allow robots…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Multi-task learning is a popular machine learning approach that enables simultaneous learning of multiple related tasks, improving algorithmic efficiency and effectiveness. In the hard parameter sharing approach, an encoder shared through…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…