相关论文: Inverse Reinforcement Learning with Multi-Relation…

As the number of the robot's degrees of freedom increases, the implementation of robot motion becomes more complex and difficult. In this study, we focus on learning 6DOF-grasping motion and consider dividing the grasping motion into…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…

We present a machine learning framework for multi-agent systems to learn both the optimal policy for maximizing the rewards and the encoding of the high dimensional visual observation. The encoding is useful for sharing local visual…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

Animals have remarkable abilities to adapt locomotion to different terrains and tasks. However, robots trained by means of reinforcement learning are typically able to solve only a single task and a transferred policy is usually inferior to…

The relationship between a reinforcement learning (RL) agent and an asynchronous environment is often ignored. Frequently used models of the interaction between an agent and its environment, such as Markov Decision Processes (MDP) or…

In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of…

Methods for learning from demonstration (LfD) have shown success in acquiring behavior policies by imitating a user. However, even for a single task, LfD may require numerous demonstrations. For versatile agents that must learn many tasks…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

Buildings sector is one of the major consumers of energy in the United States. The buildings HVAC (Heating, Ventilation, and Air Conditioning) systems, whose functionality is to maintain thermal comfort and indoor air quality (IAQ), account…

We are interested in learning models of non-stationary environments, which can be framed as a multi-task learning problem. Model-free reinforcement learning algorithms can achieve good asymptotic performance in multi-task learning at a cost…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Traffic simulators act as an essential component in the operating and planning of transportation systems. Conventional traffic simulators usually employ a calibrated physical car-following model to describe vehicles' behaviors and their…

Causal learning allows humans to predict the effect of their actions on the known environment and use this knowledge to plan the execution of more complex actions. Such knowledge also captures the behaviour of the environment and can be…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause…