相关论文: Neuro-Inspired Inverse Learning for Planning and C…

As the pursuit of synergy between Artificial Intelligence (AI) and Operations Research (OR) gains momentum in handling complex inventory systems, a critical challenge persists: how to effectively reconcile AI's adaptive perception with OR's…

Humans have the ability to reuse previously learned policies to solve new tasks quickly, and reinforcement learning (RL) agents can do the same by transferring knowledge from source policies to a related target task. Transfer RL methods can…

We propose Improved Memories Learning (IMeL), a novel algorithm that turns reinforcement learning (RL) into a supervised learning (SL) problem and delimits the role of neural networks (NN) to interpolation. IMeL consists of two components.…

Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…

We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

Model-free learning-based control methods have recently shown significant advantages over traditional control methods in avoiding complex vehicle characteristic estimation and parameter tuning. As a primary policy learning method, imitation…

In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables…

Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents. RL requires extensive reward shaping and auxiliary losses…

Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, IL is sensitive to compounding errors induced by distribution…

Generative Adversarial Imitation Learning (GAIL) trains a generative policy to mimic a demonstrator. It uses on-policy Reinforcement Learning (RL) to optimize a reward signal derived from a GAN-like discriminator. A major drawback of GAIL…

Locally resonant elastic metamaterials (LREM) can be designed, by optimizing the geometry of the constituent self-repeating unit cells, to potentially damp out vibration in selected frequency ranges, thus yielding desired bandgaps. However,…

A fundamental question in neuroscience is how the brain creates an internal model of the world to guide actions using sequences of ambiguous sensory information. This is naturally formulated as a reinforcement learning problem under partial…

Data-driven methods such as reinforcement and imitation learning have achieved remarkable success in robot autonomy. However, their data-centric nature still hinders them from generalizing well to ever-changing environments. Moreover,…

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously…

In this paper, we formulate inverse reinforcement learning (IRL) as an expert-learner interaction whereby the optimal performance intent of an expert or target agent is unknown to a learner agent. The learner observes the states and…

In this paper, a novel generative adversarial imitation learning (GAIL)-powered policy learning approach is proposed for optimizing beamforming, spectrum allocation, and remote user equipment (RUE) association in NTNs. Traditional…

The field of reinforcement learning can be split into model-based and model-free methods. Here, we unify these approaches by casting model-free policy optimisation as amortised variational inference, and model-based planning as iterative…

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the…