相关论文: LoRaCompass: Robust Reinforcement Learning to Effi…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

Legged locomotion has recently achieved remarkable success with the progress of machine learning techniques, especially deep reinforcement learning (RL). Controllers employing neural networks have demonstrated empirical and qualitative…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

Reinforcement Learning (RL) has emerged as a powerful paradigm for advancing Large Language Models (LLMs), achieving remarkable performance in complex reasoning domains such as mathematics and code generation. However, current RL methods…

This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with formal robustness and stability guarantees, by designing a…

Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…

Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…

Reinforcement learning has become a central paradigm for improving LLM reasoning, but most existing methods optimize policies over discrete token sequences. This creates a mismatch between the optimization space and the structure of…

Evolutionary search-based techniques are commonly used for testing autonomous robotic systems. However, these approaches often rely on computationally expensive simulator-based models for test scenario evaluation. To improve the…

Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…

The research addresses sensor task management for radar systems, focusing on efficiently searching and tracking multiple targets using reinforcement learning. The approach develops a 3D simulation environment with an active electronically…

In this paper, we for the first time investigate the random access problem for a delay-constrained heterogeneous wireless network. We begin with a simple two-device problem where two devices deliver delay-constrained traffic to an access…

Parametric Retrieval-Augmented Generation (PRAG) is a RAG approach that integrates external knowledge directly into model parameters using a LoRA adapter, aiming at reducing the inference cost compared to traditional RAG. However, current…

High-precision surface defect detection in manufacturing is essential for ensuring quality control. Laser triangulation profilometric sensors are key to this process, providing detailed and accurate surface measurements over a line. To…

The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…

Low-rank adapters (LoRAs) are a parameter-efficient finetuning technique that injects trainable low-rank matrices into pretrained models to adapt them to new tasks. Mixture-of-LoRAs models expand neural networks efficiently by routing each…

Designing a competent meta-reinforcement learning (meta-RL) algorithm in terms of data usage remains a central challenge to be tackled for its successful real-world applications. In this paper, we propose a sample-efficient meta-RL…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…