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Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…
Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…
For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…
Adapting the idea of training CartPole with Deep Q-learning agent, we are able to find a promising result that prevent the pole from falling down. The capacity of reinforcement learning (RL) to learn from the interaction between the…
Robots have to face challenging perceptual settings, including changes in viewpoint, lighting, and background. Current simulated reinforcement learning (RL) benchmarks such as DM Control provide visual input without such complexity, which…
The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…
Mobile manipulation is usually achieved by sequentially executing base and manipulator movements. This simplification, however, leads to a loss in efficiency and in some cases a reduction of workspace size. Even though different methods…
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using…
Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…
The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…
We demonstrate experimentally the feasibility of applying reinforcement learning (RL) in flow control problems by automatically discovering active control strategies without any prior knowledge of the flow physics. We consider the turbulent…
In reinforcement learning (RL), an autonomous agent learns to perform complex tasks by maximizing an exogenous reward signal while interacting with its environment. In real-world applications, test conditions may differ substantially from…
Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…
Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
The focus of this work is to enumerate the various approaches and algorithms that center around application of reinforcement learning in robotic ma- ]]nipulation tasks. Earlier methods utilized specialized policy representations and human…
This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…
Reinforcement Learning is an area of Machine Learning focused on how agents can be trained to make sequential decisions, and achieve a particular goal within an arbitrary environment. While learning, they repeatedly take actions based on…
With the growing need to reduce energy consumption and greenhouse gas emissions, Eco-driving strategies provide a significant opportunity for additional fuel savings on top of other technological solutions being pursued in the…
Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…