相关论文: A New Trajectory-Oriented Approach to Enhancing Co…

When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…

Being able to solve a task in diverse ways makes agents more robust to task variations and less prone to local optima. In this context, constrained diversity optimization has become a useful reinforcement learning (RL) framework for…

In recent years, the growing demand for more intelligent service robots is pushing the development of mobile robot navigation algorithms to allow safe and efficient operation in a dense crowd. Reinforcement learning (RL) approaches have…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…

Offline preference-based reinforcement learning (RL), which focuses on optimizing policies using human preferences between pairs of trajectory segments selected from an offline dataset, has emerged as a practical avenue for RL applications.…

This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…

Robot crowd navigation has been gaining increasing attention and popularity in various practical applications. In existing research, deep reinforcement learning has been applied to robot crowd navigation by training policies in an online…

Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Offline preference-based reinforcement learning (PbRL) typically operates in two phases: first, use human preferences to learn a reward model and annotate rewards for a reward-free offline dataset; second, learn a policy by optimizing the…

Multi-agent pathfinding (MAPF) is a critical field in many large-scale robotic applications, often being the fundamental step in multi-agent systems. The increasing complexity of MAPF in complex and crowded environments, however, critically…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Reinforcement learning (RL) shows great potential for optimizing multi-vehicle cooperative driving strategies through the state-action-reward feedback loop, but it still faces challenges such as low sample efficiency. This paper proposes a…

The success of deep reinforcement learning (DRL) relies on the availability and quality of training data, often requiring extensive interactions with specific environments. In many real-world scenarios, where data collection is costly and…

Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and…

Model-based reinforcement learning (RL) has shown great potential in various control tasks in terms of both sample-efficiency and final performance. However, learning a generalizable dynamics model robust to changes in dynamics remains a…