Related papers: PTDRL: Parameter Tuning using Deep Reinforcement L…
We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…
Deep Reinforcement Learning (DRL) has shown its promising capabilities to learn optimal policies directly from trial and error. However, learning can be hindered if the goal of the learning, defined by the reward function, is "not optimal".…
Proper parameter configuration is a prerequisite for the success of Evolutionary Algorithms (EAs). While various adaptive strategies have been proposed, it remains an open question whether all control dimensions contribute equally to…
Deep Reinforcement Learning (DRL) has become a popular method for solving control problems in power systems. Conventional DRL encourages the agent to explore various policies encoded in a neural network (NN) with the goal of maximizing the…
Deep Reinforcement Learning (RL) is mainly studied in a setting where the training and the testing environments are similar. But in many practical applications, these environments may differ. For instance, in control systems, the robot(s)…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…
Reinforcement learning (RL) involves sequential decision making in uncertain environments. The aim of the decision-making agent is to maximize the benefit of acting in its environment over an extended period of time. Finding an optimal…
Resource allocation plays a critical role in minimizing cycle time and improving the efficiency of business processes. Recently, Deep Reinforcement Learning (DRL) has emerged as a powerful technique to optimize resource allocation policies…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Deep reinforcement learning (DRL) algorithms have recently gained wide attention in the wireless networks domain. They are considered promising approaches for solving dynamic radio resource management (RRM) problems in next-generation…
This paper proposes adversarial attacks for Reinforcement Learning (RL) and then improves the robustness of Deep Reinforcement Learning algorithms (DRL) to parameter uncertainties with the help of these attacks. We show that even a naively…
Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local…
Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired…
This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…
Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…
Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and the real world. However, DR often requires careful tuning of…
Meta-learning algorithms can accelerate the model-based reinforcement learning (MBRL) algorithms by finding an initial set of parameters for the dynamical model such that the model can be trained to match the actual dynamics of the system…