相关论文: Transformer-Based Reinforcement Learning for Auton…

Autonomous systems are often required to operate in partially observable environments. They must reliably execute a specified objective even with incomplete information about the state of the environment. We propose a methodology to…

Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…

This paper presents a feature-based Partially Observable Markov Decision Process (POMDP) framework for quantum network routing, combining belief-state planning with Graph Neural Networks (GNNs) to address partial observability, decoherence,…

We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques make the often unrealistic assumption that the agent has…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

The interactive partially observable Markov decision process (I-POMDP) is a recently developed framework which extends the POMDP to the multi-agent setting by including agent models in the state space. This paper argues for formulating the…

Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…

We present a long-term intrinsically motivated structure learning method for modeling transition dynamics during controlled interactions between a robot and semi-permanent structures in the world. In particular, we discuss how…

Smart Internet of Vehicles (IoVs) combined with Artificial Intelligence (AI) will contribute to vehicle decision-making in the Intelligent Transportation System (ITS). Multi-Vehicle Pursuit games (MVP), a multi-vehicle cooperative ability…

POMDPs capture a broad class of decision making problems, but hardness results suggest that learning is intractable even in simple settings due to the inherent partial observability. However, in many realistic problems, more information is…

In robotic insertion tasks where the uncertainty exceeds the allowable tolerance, a good search strategy is essential for successful insertion and significantly influences efficiency. The commonly used blind search method is time-consuming…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

In many practical applications, decision-making processes must balance the costs of acquiring information with the benefits it provides. Traditional control systems often assume full observability, an unrealistic assumption when…

Partially observable Markov decision processes (POMDPs) are a general mathematical model for sequential decision-making in stochastic environments under state uncertainty. POMDPs are often solved \textit{online}, which enables the algorithm…

Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dark. In these cases, utilizing contacts to localize the target…

Uncontrolled intersections account for a significant fraction of roadway crashes due to ambiguous right-of-way rules, occlusions, and unpredictable driver behavior. While autonomous vehicle research has explored uncertainty-aware decision…

Applications of Reinforcement Learning (RL), in which agents learn to make a sequence of decisions despite lacking complete information about the latent states of the controlled system, that is, they act under partial observability of the…

This work introduces a novel deep learning-based architecture, termed the Deep Belief Markov Model (DBMM), which provides efficient, model-formulation agnostic inference in Partially Observable Markov Decision Process (POMDP) problems. The…

Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…

This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…