相关论文: Deep Active Inference with Diffusion Policy and Mu…

Active inference is a first principle account of how autonomous agents operate in dynamic, non-stationary environments. This problem is also considered in reinforcement learning (RL), but limited work exists on comparing the two approaches…

Intelligent agents must pursue their goals in complex environments with partial information and often limited computational capacity. Reinforcement learning methods have achieved great success by creating agents that optimize engineered…

In various scientific and engineering domains, where data acquisition is costly--such as in medical imaging, environmental monitoring, or remote sensing--strategic sampling from unobserved regions, guided by prior observations, is essential…

Imitation learning aims to solve the problem of defining reward functions in real-world decision-making tasks. The current popular approach is the Adversarial Imitation Learning (AIL) framework, which matches expert state-action occupancy…

We introduce $\textbf{F}$uture $\textbf{LA}$tent $\textbf{RE}$presentation Alignment ($\textbf{FLARE}$), a novel framework that integrates predictive latent world modeling into robot policy learning. By aligning features from a diffusion…

Learning to take actions based on observations is a core requirement for artificial agents to be able to be successful and robust at their task. Reinforcement Learning (RL) is a well-known technique for learning such policies. However,…

Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety…

What is the difference between goal-directed and habitual behavior? We propose a novel computational framework of decision making with Bayesian inference, in which everything is integrated as an entire neural network model. The model learns…

Active inference offers a first principle account of sentient behaviour, from which special and important cases can be derived, e.g., reinforcement learning, active learning, Bayes optimal inference, Bayes optimal design, etc. Active…

Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next…

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured environments. The effectiveness of these methods hinges on two essential…

Despite the great development of multirobot technologies, efficiently and collaboratively exploring an unknown environment is still a big challenge. In this paper, we propose AIM-Mapping, a Asymmetric InforMation Enhanced Mapping framework.…

Diffusion adaptation is a powerful strategy for distributed estimation and learning over networks. Motivated by the concept of combining adaptive filters, this work proposes a combination framework that aggregates the operation of multiple…

Active multi-target tracking requires a mobile robot to balance exploration for undetected targets with exploitation of uncertain tracked ones. Diffusion policies have emerged as a powerful approach for capturing diverse behavioral…

Active inference proposes expected free energy as an objective for planning and decision-making to adequately balance exploitative and explorative drives in learning agents. The exploitative drive, or what an agent wants to achieve, is…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured terrains. The effectiveness of these methods hinges on two essential…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…