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cs.RO2025
An Uncertainty-Weighted Decision Transformer for Navigation in Dense, Complex Driving Scenarios
Zhihao Zhang, Chengyang Peng, Minghao Zhu +2
Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining ro…
cs.RO2025
Bootstrapping Reinforcement Learning with Sub-optimal Policies for Autonomous Driving
Zhihao Zhang, Chengyang Peng, Ekim Yurtsever +1
Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. Howe…
cs.RO2025
Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
Chengyang Peng, Zhihao Zhang, Shiting Gong +3
Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficien…