相关论文: Deep Learning of Robotic Tasks without a Simulator…
In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…
Due to the limited smartness and abilities of machine intelligence, currently autonomous vehicles are still unable to handle all kinds of situations and completely replace drivers. Because humans exhibit strong robustness and adaptability…
Deep reinforcement learning agents have achieved state-of-the-art results by directly maximising cumulative reward. However, environments contain a much wider variety of possible training signals. In this paper, we introduce an agent that…
The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans…
The training of many existing end-to-end steering angle prediction models heavily relies on steering angles as the supervisory signal. Without learning from much richer contexts, these methods are susceptible to the presence of sharp road…
Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…
Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…
Bagging is an essential skill that humans perform in their daily activities. However, deformable objects, such as bags, are complex for robots to manipulate. This paper presents an efficient learning-based framework that enables robots to…
Autonomous driving decision-making is a great challenge due to the complexity and uncertainty of the traffic environment. Combined with the rule-based constraints, a Deep Q-Network (DQN) based method is applied for autonomous driving lane…
Understanding physical phenomena is a key component of human intelligence and enables physical interaction with previously unseen environments. In this paper, we study how an artificial agent can autonomously acquire this intuition through…
Traditionally, learning from human demonstrations via direct behavior cloning can lead to high-performance policies given that the algorithm has access to large amounts of high-quality data covering the most likely scenarios to be…
Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
When humans play virtual racing games, they use visual environmental information on the game screen to understand the rules within the environments. In contrast, a state-of-the-art realistic racing game AI agent that outperforms human…
Maneuver decision-making is the core of unmanned combat aerial vehicle for autonomous air combat. To solve this problem, we propose an automatic curriculum reinforcement learning method, which enables agents to learn effective decisions in…
Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…
Software testing is an important tool to ensure software quality. This is a hard task in robotics due to dynamic environments and the expensive development and time-consuming execution of test cases. Most testing approaches use model-based…
In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…
Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…
Racing autonomous cars faster than the best human drivers has been a longstanding grand challenge for the fields of Artificial Intelligence and robotics. Recently, an end-to-end deep reinforcement learning agent met this challenge in a…