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Physics-based character animation has become a fundamental approach for synthesizing realistic, physically plausible motions. While current data-driven deep reinforcement learning (DRL) methods can synthesize complex skills, they struggle…

Auxiliary Learning (AL) is a form of multi-task learning in which a model trains on auxiliary tasks to boost performance on a primary objective. While AL has improved generalization across domains such as navigation, image classification,…

It is expected that many human drivers will still prefer to drive themselves even if the self-driving technologies are ready. Therefore, human-driven vehicles and autonomous vehicles (AVs) will coexist in a mixed traffic for a long time. To…

While conventional reinforcement learning focuses on designing agents that can perform one task, meta-learning aims, instead, to solve the problem of designing agents that can generalize to different tasks (e.g., environments, obstacles,…

Deep Reinforcement Learning (DRL) agents frequently face challenges in adapting to tasks outside their training distribution, including issues with over-fitting, catastrophic forgetting and sample inefficiency. Although the application of…

Constraint-based optimization is a cornerstone of robotics, enabling the design of controllers that reliably encode task and safety requirements such as collision avoidance or formation adherence. However, handcrafted constraints can fail…

A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor…

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…

Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…

Reinforcement Learning in domains with sparse rewards is a difficult problem, and a large part of the training process is often spent searching the state space in a more or less random fashion for any learning signals. For control problems,…

In recent years, Reinforcement Learning (RL) has seen increasing popularity in research and popular culture. However, skepticism still surrounds the practicality of RL in modern video game development. In this paper, we demonstrate by…

We present a simple and intuitive approach for interactive control of physically simulated characters. Our work builds upon generative adversarial networks (GAN) and reinforcement learning, and introduces an imitation learning framework…

Recent progress in AI and Reinforcement learning has shown great success in solving complex problems with high dimensional state spaces. However, most of these successes have been primarily in simulated environments where failure is of…

Safety controllers is widely used to achieve safe reinforcement learning. Most methods that apply a safety controller are using handcrafted safety constraints to construct the safety controller. However, when the environment dynamics are…

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of…

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…

We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…

This paper is a study of reinforcement learning (RL) as an optimal-control strategy for control of nonlinear valves. It is evaluated against the PID (proportional-integral-derivative) strategy, using a unified framework. RL is an autonomous…

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. However, these approaches often fail to account for humans'…