相关论文: Curriculum-Based Iterative Self-Play for Scalable …

We are interested in training general-purpose reinforcement learning agents that can solve a wide variety of goals. Training such agents efficiently requires automatic generation of a goal curriculum. This is challenging as it requires (a)…

This paper addresses multi-UAV pursuit-evasion, where a group of drones cooperates to capture a fast evader in a confined environment with obstacles. Existing heuristic algorithms, which simplify the pursuit-evasion problem, often lack…

Skill routing is an important component in large-scale conversational systems. In contrast to traditional rule-based skill routing, state-of-the-art systems use a model-based approach to enable natural conversations. To provide supervision…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…

This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…

The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

Applications of reinforcement learning (RL) are popular in autonomous driving tasks. That being said, tuning the performance of an RL agent and guaranteeing the generalization performance across variety of different driving scenarios is…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Continually solving new, unsolved tasks is the key to learning diverse behaviors. Through reinforcement learning (RL), we have made massive strides towards solving tasks that have a single goal. However, in the multi-task domain, where an…

Curriculum learning has emerged as a promising approach for training complex robotics tasks, yet current applications predominantly rely on manually designed curricula, which demand significant engineering effort and can suffer from…

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…

Development of guidance, navigation and control frameworks/algorithms for swarms attracted significant attention in recent years. That being said, algorithms for planning swarm allocations/trajectories for engaging with enemy swarms is…

This study is aimed at addressing the problem of fault tolerance of quadruped robots to actuator failure, which is critical for robots operating in remote or extreme environments. In particular, an adaptive curriculum reinforcement learning…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

In this work, we augment reinforcement learning with an inference-time collision model to ensure safe and efficient container management in a waste-sorting facility with limited processing capacity. Each container has two optimal emptying…

Recent technological progress in the development of Unmanned Aerial Vehicles (UAVs) together with decreasing acquisition costs make the application of drone fleets attractive for a wide variety of tasks. In agriculture, disaster management,…

This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…

A continual learning agent builds on previous experiences to develop increasingly complex behaviors by adapting to non-stationary and dynamic environments while preserving previously acquired knowledge. However, scaling these systems…