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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Multiagent Rollout and Policy Iteration for POMDP with Ap...
Sushmita Bhattacharya, Siva Kailas, Sahil Badyal, Stephanie Gil, · 2020-11-09 · via cs.RO updates on arXiv.org

In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We discuss and compare algorithms that simultaneously or sequentially optimize the agents' controls by using multistep lookahead, truncated rollout with a known base policy, and a terminal cost function approximation. Our methods specifically address the computational challenges of partially observable multiagent problems. In particular: 1) We consider rollout algorithms that dramatically reduce required computation while preserving the key cost improvement property of the standard rollout method. The per-step computational requirements for our methods are on the order of $O(Cm)$ as compared with $O(C^m)$ for standard rollout, where $C$ is the maximum cardinality of the constraint set for the control component of each agent, and $m$ is the number of agents. 2) We show that our methods can be applied to challenging problems with a graph structure, including a class of robot repair problems whereby multiple robots collaboratively inspect and repair a system under partial information. 3) We provide a simulation study that compares our methods with existing methods, and demonstrate that our methods can handle larger and more complex partially observable multiagent problems (state space size $10^{37}$ and control space size $10^{7}$, respectively). Finally, we incorporate our multiagent rollout algorithms as building blocks in an approximate policy iteration scheme, where successive rollout policies are approximated by using neural network classifiers. While this scheme requires a strictly off-line implementation, it works well in our computational experiments and produces additional significant performance improvement over the single online rollout iteration method.