相关论文: Task-specific Subnetwork Discovery in Reinforcemen…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

We address the challenge of enhancing navigation autonomy for planetary space rovers using reinforcement learning (RL). The ambition of future space missions necessitates advanced autonomous navigation capabilities for rovers to meet…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots, with recent deep reinforcement learning approaches showing promising results. However, the complexity of the real world makes it infeasible…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

Meta reinforcement learning (meta-RL) aims to learn a policy solving a set of training tasks simultaneously and quickly adapting to new tasks. It requires massive amounts of data drawn from training tasks to infer the common structure…

An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…

Large-scale online ride-sharing platforms have substantially transformed our lives by reallocating transportation resources to alleviate traffic congestion and promote transportation efficiency. An efficient fleet management strategy not…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Reinforcement Learning (RL) algorithms are known to scale poorly to environments with many available actions, requiring numerous samples to learn an optimal policy. The traditional approach of considering the same fixed action space in…

Scene understanding is crucial for autonomous systems which intend to operate in the real world. Single task vision networks extract information only based on some aspects of the scene. In multi-task learning (MTL), on the other hand, these…

Meta-Reinforcement Learning addresses the critical limitations of conventional Reinforcement Learning in multi-task and non-stationary environments by enabling fast policy adaptation and improved generalization. We introduce a novel Meta-RL…

Random exploration is one of the main mechanisms through which reinforcement learning (RL) finds well-performing policies. However, it can lead to undesirable or catastrophic outcomes when learning online in safety-critical environments. In…

Continual learning for reinforcement learning agents remains a significant challenge, particularly in preserving and leveraging existing information without an external signal to indicate changes in tasks or environments. In this study, we…

In this work we use deep reinforcement learning to create an autonomous agent that can navigate in a two-dimensional space using only raw auditory sensory information from the environment, a problem that has received very little attention…

This work proposes Multi-task Meta Learning (MTML), integrating two learning paradigms Multi-Task Learning (MTL) and meta learning, to bring together the best of both worlds. In particular, it focuses simultaneous learning of multiple…

Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…