Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty
Fanfei Chen Paul Szenher Yewei Huang Jinkun Wang Tixiao Shan Shi Bai Brendan Englot Fanfei Chen Paul Szenher Yewei Huang Jinkun Wang Tixiao Shan Shi Bai Brendan Englot
This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation environment, and transferring it to other environments, which may be physical or virtual. Recent work in transfer learning achieves encouraging performance by domain ad...