Publications

2025

1. ICRA’25

   

   MARVEL: Multi-Agent Reinforcement Learning for constrained field-of-View multi-robot Exploration in Large-scale environments

   Jimmy Chiun, Shizhe Zhang, Yizhuo Wang, Yuhong Cao, and Guillaume Sartoretti

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

2024

1. CoRL’24

   

   ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning

   Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, and Guillaume Sartoretti

   In Conference on Robot Learning, 2024

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   In visibility-based pursuit-evasion tasks, a team of mobile pursuer robots with limited sensing capabilities is tasked with detecting all evaders in a multiply-connected planar environment, whose map may or may not be known to pursuers beforehand. This requires tight coordination among multiple agents to ensure that the omniscient and potentially arbitrarily fast evaders are guaranteed to be detected by the pursuers. Whereas existing methods typically rely on a relatively large team of agents to clear the environment, we propose ViPER, a neural solution that leverages a graph attention network to learn a coordinated yet distributed policy via multi-agent reinforcement learning (MARL). We experimentally demonstrate that ViPER significantly outperforms other state-of-the-art non-learning planners, showcasing its emergent coordinated behaviors and adaptability to more challenging scenarios and various team sizes, and finally deploy its learned policies on hardware in an aerial search task.

2. RA-L

   

   Deep Reinforcement Learning-based Large-scale Robot Exploration

   Yuhong Cao, Rui Zhao, Yizhuo Wang, Bairan Xiang, and Guillaume Sartoretti

   IEEE Robotics and Automation Letters, 2024

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2023

1. IROS’23

   

   Spatio-Temporal Attention Network for Persistent Monitoring of Multiple Mobile Targets

   Yizhuo Wang, Yutong Wang, Yuhong Cao, and Guillaume Sartoretti

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

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   This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target’s position estimate as accurate as possible, the robot needs to adaptively plan its path to (re-)visit all the targets and update its belief from measurements collected along the way. In doing so, the main challenge is to strike a balance between exploitation, i.e., re-visiting previously-located targets, and exploration, i.e., finding new targets or re-acquiring lost ones. Encouraged by recent advances in deep reinforcement learning, we introduce an attention-based neural solution to the persistent monitoring problem, where the agent can learn the inter-dependencies between targets, i.e., their spatial and temporal correlations, conditioned on past measurements. This endows the agent with the ability to determine which target, time, and location to attend to across multiple scales, which we show also helps relax the usual limitations of a finite target set. We experimentally demonstrate that our method outperforms other baselines in terms of number of targets visits and average estimation error in complex environments. Finally, we implement and validate our model in a drone-based simulation experiment to monitor mobile ground targets in a high-fidelity simulator.

2. J-AAMAS

   

   Full Communication Memory Networks for Team-Level Cooperation Learning

   Yutong Wang, Yizhuo Wang, and Guillaume Sartoretti

   Autonomous Agents and Multi-Agent Systems, 2023

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   Communication in multi-agent systems is a key driver of team-level cooperation, for instance allowing individual agents to augment their knowledge about the world in partially-observable environments. In this paper, we propose two reinforcement learning-based multi-agent models, namely FCMNet and FCMTran. The two models both allow agents to simultaneously learn a differentiable communication mechanism that connects all agents as well as a common, cooperative policy conditioned upon received information. FCMNet utilizes multiple directional Long Short-Term Memory chains to sequentially transmit and encode the current observation-based messages sent by every other agent at each timestep. FCMTran further relies on the encoder of a modified transformer to simultaneously aggregate multiple self-generated messages sent by all agents at the previous timestep into a single message that is used in the current timestep. Results from evaluating our models on a challenging set of StarCraft II micromanagement tasks with shared rewards show that FCMNet and FCMTran both outperform recent communication-based methods and value decomposition methods in almost all tested StarCraft II micromanagement tasks. We further improve the performance of our models by combining them with value decomposition techniques; there, in particular, we show that FCMTran with value decomposition significantly pushes the state-of-the-art on one of the hardest benchmark tasks without any task-specific tuning. We also investigate the robustness of FCMNet under communication disturbances (i.e., binarized messages, random message loss, and random communication order) in an asymmetric collaborative pathfinding task with individual rewards, demonstrating FMCNet’s potential applicability in real-world robotic tasks.

3. ICRA’23 Workshop

   

   Learning Simultaneous Motion Planning and Active Gaze Control for Persistent Monitoring of Dynamic Targets

   Yizhuo Wang and Guillaume Sartoretti

   In ICRA 2023 Workshop on Active Methods in Autonomous Navigation, 2023

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   We consider the persistent monitoring problem of a given set of targets moving based on an unknown model by an autonomous mobile robot equipped with a directional sensor (e.g., camera). The robot needs to actively plan both its path and its sensor’s gaze/heading direction to detect and constantly re-locate all targets by collecting measurements along its path, to keep the estimated position of each target as accurate as possible at all times. Our recent work discretize the monitoring domain into a graph where the deep-reinforcement-learning-based agent sequentially decide which neighboring node to visit next. In this work, we extend it by duplicating neighboring features multiple times and then combining with its unique gaze features to output a joint decision of “where to go" and “where to look". Our simulation experiments show that active gaze control enhances monitoring performance, particularly in terms of minimum number of re-observation per target, compared to agent with a fixed forward-gaze sensor or greedy gaze selection.

4. ICRA’23

   

   ARiADNE: A Reinforcement learning approach using Attention-based Deep Networks for Exploration

   Yuhong Cao, Tianxiang Hou, Yizhuo Wang, Xian Yi, and Guillaume Sartoretti

   In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

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   In autonomous robot exploration tasks, a mobile robot needs to actively explore and map an unknown environment as fast as possible. Since the environment is being revealed during exploration, the robot needs to frequently re-plan its path online, as new information is acquired by onboard sensors and used to update its partial map. While state-of-the-art exploration planners are frontier- and sampling-based, encouraged by the recent development in deep reinforcement learning (DRL), we propose ARiADNE, an attention-based neural approach to obtain real-time, non-myopic path planning for autonomous exploration. ARiADNE is able to learn dependencies at multiple spatial scales between areas of the agent’s partial map, and implicitly predict potential gains associated with exploring those areas. This allows the agent to sequence movement actions that balance the natural trade-off between exploitation/refinement of the map in known areas and exploration of new areas. We experimentally demonstrate that our method outperforms both learning and non-learning state-of-the-art baselines in terms of average trajectory length to complete exploration in hundreds of simplified 2D indoor scenarios. We further validate our approach in high-fidelity Robot Operating System (ROS) simulations, where we consider a real sensor model and a realistic low-level motion controller, toward deployment on real robots.

2022

1. CoRL’22

   

   CAtNIPP: Context-Aware Attention-based Network for Informative Path Planning

   Yuhong Cao, Yizhuo Wang, Apoorva Vashisth, Haolin Fan, and Guillaume Adrien Sartoretti

   In Conference on Robot Learning, 2022

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   Informative path planning (IPP) is an NP-hard problem, which aims at planning a path allowing an agent to build an accurate belief about a quantity of interest throughout a given search domain, within constraints on resource budget (e.g., path length for robots with limited battery life). IPP requires frequent online replanning as this belief is updated with every new measurement (i.e., adaptive IPP), while balancing short-term exploitation and longer-term exploration to avoid suboptimal, myopic behaviors. Encouraged by the recent developments in deep reinforcement learning, we introduce CAtNIPP, a fully reactive, neural approach to the adaptive IPP problem. CAtNIPP relies on self-attention for its powerful ability to capture dependencies in data at multiple spatial scales. Specifically, our agent learns to form a context of its belief over the entire domain, which it uses to sequence local movement decisions that optimize short- and longer-term search objectives. We experimentally demonstrate that CAtNIPP significantly outperforms state-of-the-art non-learning IPP solvers in terms of solution quality and computing time once trained, and present experimental results on hardware.