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

Recent advancements in Reinforcement Learning with Verifiable Rewards (RLVR) have significantly improved Large Language Model (LLM) reasoning, yet models often struggle to explore novel trajectories beyond their initial policy distribution.…

Reinforcement learning algorithms struggle on tasks with complex hierarchical dependency structures. Humans and other intelligent agents do not waste time assessing the utility of every high-level action in existence, but instead only…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Recently, large reasoning models have demonstrated strong mathematical and coding abilities, and deep search leverages their reasoning capabilities in challenging information retrieval tasks. Existing deep search works are generally limited…

Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In this work, we propose HeRD, a hierarchical…

Exploration algorithms for reinforcement learning typically replace or augment the reward function with an additional ``intrinsic'' reward that trains the agent to seek previously unseen states of the environment. Here, we consider an…

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Efficient exploration has presented a long-standing challenge in reinforcement learning, especially when rewards are sparse. A developmental system can overcome this difficulty by learning from both demonstrations and self-exploration.…

Utilizing robots for autonomous target search in complex and unknown environments can greatly improve the efficiency of search and rescue missions. However, existing methods have shown inadequate performance due to hardware platform…

In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

Neuroscientists postulate 3D representations in the brain in a variety of different coordinate frames (e.g. 'head-centred', 'hand-centred' and 'world-based'). Recent advances in reinforcement learning demonstrate a quite different approach…

We present a coverage framework that integrates Hilbert space-filling priors into decentralized multi-robot learning and execution. We augment DQN and PPO with Hilbert-based spatial indices to structure exploration and reduce redundancy in…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Active learning provides a framework to adaptively query the most informative experiments towards learning an unknown black-box function. Various approaches of active learning have been proposed in the literature, however, they either focus…

We propose a novel efficient architecture for learning long-term evolution in complex multi-scale physical systems which is based on the idea of separation of scales. Structures of various scales that dynamically emerge in the system…

We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From this formulation we…

Sparse-reward reinforcement learning (RL) can model a wide range of highly complex tasks. Solving sparse-reward tasks is RL's core premise, requiring efficient exploration coupled with long-horizon credit assignment, and overcoming these…