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

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…

In this work we focus on improving the efficiency and generalisation of learned navigation strategies when transferred from its training environment to previously unseen ones. We present an extension of the residual reinforcement learning…

In this paper, we propose a novel joint deep reinforcement learning (DRL)-based solution to optimize the utility of an uncrewed aerial vehicle (UAV)-assisted communication network. To maximize the number of users served within the…

Robust reinforcement learning (RL) aims to learn policies that remain effective despite uncertainties in its environment, which frequently arise in real-world applications due to variations in environment dynamics. The robust RL methods…

Equalizer parameter optimization is critical for signal integrity in high-speed memory systems operating at multi-gigabit data rates. However, existing methods suffer from computationally expensive eye diagram evaluation, optimization of…

We consider the problem of learning a control policy that is robust against the parameter mismatches between the training environment and testing environment. We formulate this as a distributionally robust reinforcement learning (DR-RL)…

In domains such as finance, healthcare, and robotics, managing worst-case scenarios is critical, as failure to do so can lead to catastrophic outcomes. Distributional Reinforcement Learning (DRL) provides a natural framework to incorporate…

Deep Reinforcement Learning (DRL) has achieved remarkable advances in sequential decision tasks. However, recent works have revealed that DRL agents are susceptible to slight perturbations in observations. This vulnerability raises concerns…

Despite significant advancements in Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), their robustness in real-world conditions, particularly under external disturbances, remains insufficiently explored. In this…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

We consider an Intelligent Reflecting Surface (IRS)-aided multiple-input single-output (MISO) system for downlink transmission. We compare the performance of Deep Reinforcement Learning (DRL) and conventional optimization methods in finding…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

We study off-dynamics Reinforcement Learning (RL), where the policy training and deployment environments are different. To deal with this environmental perturbation, we focus on learning policies robust to uncertainties in transition…

Safe and efficient navigation through human crowds is an essential capability for mobile robots. Previous work on robot crowd navigation assumes that the dynamics of all agents are known and well-defined. In addition, the performance of…

Modern navigation algorithms based on deep reinforcement learning (RL) show promising efficiency and robustness. However, most deep RL algorithms operate in a risk-neutral manner, making no special attempt to shield users from relatively…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot…

Wasserstein distributionally robust optimization (WDRO) optimizes against worst-case distributional shifts within a specified uncertainty set, leading to enhanced generalization on unseen adversarial examples, compared to standard…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

Despite superior performance in many situations, deep neural networks are often vulnerable to adversarial examples and distribution shifts, limiting model generalization ability in real-world applications. To alleviate these problems,…