相关论文: Perturbation-mitigated USV Navigation with Distrib…

Autonomous Underwater Vehicles (AUVs) are essential for marine exploration, yet their control remains highly challenging due to nonlinear dynamics and uncertain environmental disturbances. This paper presents a diffusion-augmented…

Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…

Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep…

This letter presents a deep reinforcement learning (DRL) approach for transmission design to optimize the energy efficiency in vehicle-to-vehicle (V2V) communication links. Considering the dynamic environment of vehicular communications,…

Deep Reinforcement Learning (DRL) is gaining attention as a potential approach to design trajectories for autonomous unmanned aerial vehicles (UAV) used as flying access points in the context of cellular or Internet of Things (IoT)…

This paper develops a Deep Reinforcement Learning (DRL)-agent for navigation and control of autonomous surface vessels (ASV) on inland waterways. Spatial restrictions due to waterway geometry and the resulting challenges, such as high flow…

The performance of machine learning (ML) models critically depends on the quality and representativeness of the training data. In applications with multiple heterogeneous data generating sources, standard ML methods often learn spurious…

Deep neural networks (DNNs) have achieved remarkable success across diverse domains, but their performance can be severely degraded by noisy or corrupted training data. Conventional noise mitigation methods often rely on explicit…

Our goal is to train control policies that generalize well to unseen environments. Inspired by the Distributionally Robust Optimization (DRO) framework, we propose DRAGEN - Distributionally Robust policy learning via Adversarial Generation…

Deep reinforcement learning (DRL) has been shown to be successful in many application domains. Combining recurrent neural networks (RNNs) and DRL further enables DRL to be applicable in non-Markovian environments by capturing temporal…

Deep reinforcement learning (DRL) has become a dominant deep-learning paradigm for tasks where complex policies are learned within reactive systems. Unfortunately, these policies are known to be susceptible to bugs. Despite significant…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

Recent deep models for solving routing problems always assume a single distribution of nodes for training, which severely impairs their cross-distribution generalization ability. In this paper, we exploit group distributionally robust…

In this paper, we consider the maximization of the secrecy rate in multiple unmanned aerial vehicles (UAV) rate-splitting multiple access (RSMA) network. A joint beamforming, rate allocation, and UAV trajectory optimization problem is…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Efficient mission planning for cooperative systems involving Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) requires addressing energy constraints, scalability, and coordination challenges between agents. UAVs excel in…

Distributionally Robust Optimization (DRO) has enabled to prove the equivalence between robustness and regularization in classification and regression, thus providing an analytical reason why regularization generalizes well in statistical…

With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…

Statistical learning under distribution shift is challenging when neither prior knowledge nor fully accessible data from the target distribution is available. Distributionally robust learning (DRL) aims to control the worst-case statistical…

This paper presents a distributionally robust Q-Learning algorithm (DrQ) which leverages Wasserstein ambiguity sets to provide idealistic probabilistic out-of-sample safety guarantees during online learning. First, we follow past work by…