相关论文: HEADER: Hierarchical Robot Exploration via Attenti…

This work advances autonomous robot exploration by integrating agent-level semantic reasoning with fast local control. We introduce FARE, a hierarchical autonomous exploration framework that integrates a large language model (LLM) for…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Intrinsic reward shaping has emerged as a prevalent approach to solving hard-exploration and sparse-rewards environments in reinforcement learning (RL). While single intrinsic rewards, such as curiosity-driven or novelty-based methods, have…

Deep reinforcement learning excels in continuous control but often requires extensive exploration, while physics-based models demand complete equations and suffer cubic complexity. This study proposes Hybrid Energy-Aware Reward Shaping…

Exploration with sparse rewards remains a challenging research problem in reinforcement learning (RL). Especially for sequential object manipulation tasks, the RL agent always receives negative rewards until completing all sub-tasks, which…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

The quadratic computational complexity of MultiHead SelfAttention (MHSA) remains a fundamental bottleneck in scaling Large Language Models (LLMs) for longcontext tasks. While sparse and linearized attention mechanisms attempt to mitigate…

One of the key challenges in machine learning is to design a computationally efficient multi-class classifier while maintaining the output accuracy and performance. In this paper, we present a tree-based classifier: Attention Tree (ATree)…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

One major limitation to the applicability of Reinforcement Learning (RL) to many practical domains is the large number of samples required to learn an optimal policy. To address this problem and improve learning efficiency, we consider a…

There has been a recent surge in transformer-based architectures for learning on graphs, mainly motivated by attention as an effective learning mechanism and the desire to supersede handcrafted operators characteristic of message passing…

We introduce a novel self-supervised learning framework that automatically learns representations from input computer-aided design (CAD) models for downstream tasks, including part classification, modeling segmentation, and machining…

Understanding how robots plan and execute tasks is crucial in today's world, where they are becoming more prevalent in our daily lives. However, teaching non-experts, such as K-12 students, the complexities of robot planning can be…

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Robotic grasping is a crucial area of research as it can result in the acceleration of the automation of several Industries utilizing robots ranging from manufacturing to healthcare. Reinforcement learning is the field of study where an…

In humans, intrinsic motivation is an important mechanism for open-ended cognitive development; in robots, it has been shown to be valuable for exploration. An important aspect of human cognitive development is $\textit{episodic memory}$…

We present a novel method for learning hierarchical abstractions that prioritize competing objectives, leading to improved global expected rewards. Our approach employs a secondary rewarding agent with multiple scalar outputs, each…

Network embedding aims to learn low-dimensional representations of nodes while capturing structure information of networks. It has achieved great success on many tasks of network analysis such as link prediction and node classification.…