相关论文: SafeFlowMPC: Predictive and Safe Trajectory Planni…

Recent advancements in reinforcement learning (RL) demonstrate the significant potential in autonomous driving. Despite this promise, challenges such as the manual design of reward functions and low sample efficiency in complex environments…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

How can robots learn and adapt to new tasks and situations with little data? Systematic exploration and simulation are crucial tools for efficient robot learning. We present a novel black-box policy search algorithm focused on…

Controller design faces a trade-off between robustness and performance, and the reliability of linear controllers has caused many practitioners to focus on the former. However, there is renewed interest in improving system performance to…

This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Robot motion distributions often exhibit multi-modality and require flexible generative models for accurate representation. Streaming Flow Policies (SFPs) have recently emerged as a powerful paradigm for generating robot trajectories by…

Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Offline safe reinforcement learning (RL) seeks reward-maximizing policies from static datasets under strict safety constraints. Existing methods often rely on soft expected-cost objectives or iterative generative inference, which can be…

Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…

Model-based policy optimization often struggles with inaccurate system dynamics models, leading to suboptimal closed-loop performance. This challenge is especially evident in Model Predictive Control (MPC) policies, which rely on the model…

Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…

Traffic signal control is an emerging application scenario for reinforcement learning. Besides being as an important problem that affects people's daily life in commuting, traffic signal control poses its unique challenges for reinforcement…

Safe Reinforcement Learning (Safe RL) aims to ensure safety when an RL agent conducts learning by interacting with real-world environments where improper actions can induce high costs or lead to severe consequences. In this paper, we…

Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately…

As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…