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The Intelligent Transportation System (ITS) environment is known to be dynamic and distributed, where participants (vehicle users, operators, etc.) have multiple, changing and possibly conflicting objectives. Although Reinforcement Learning…

Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Object detection is an important computer vision task with plenty of real-world applications; therefore, how to enhance its robustness against adversarial attacks has emerged as a crucial issue. However, most of the previous defense methods…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

We propose a new low-cost machine-learning-based methodology which assists designers in reducing the gap between the problem and the solution in the design process. Our work applies reinforcement learning (RL) to find the optimal…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

Robotic manipulators are widely used in modern manufacturing processes. However, their deployment in unstructured environments remains an open problem. To deal with the variety, complexity, and uncertainty of real-world manipulation tasks,…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires large datasets. Online-RL does not suit itself readily into…