相关论文: Learning to Run challenge solutions: Adapting rein…

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…

While Deep Reinforcement Learning has been widely researched in medical imaging, the training and deployment of these models usually require powerful GPUs. Since imaging environments evolve rapidly and can be generated by edge devices, the…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…

We study reinforcement learning in settings where sampling an action from the policy must be done concurrently with the time evolution of the controlled system, such as when a robot must decide on the next action while still performing the…

Robust model fitting is a core algorithm in a large number of computer vision applications. Solving this problem efficiently for datasets highly contaminated with outliers is, however, still challenging due to the underlying computational…

In a reinforcement learning (RL) setting, the agent's optimal strategy heavily depends on her risk preferences and the underlying model dynamics of the training environment. These two aspects influence the agent's ability to make…

We consider the joint design and control of discrete-time stochastic dynamical systems over a finite time horizon. We formulate the problem as a multi-step optimization problem under uncertainty seeking to identify a system design and a…

In recent years, fully differentiable rigid body physics simulators have been developed, which can be used to simulate a wide range of robotic systems. In the context of reinforcement learning for control, these simulators theoretically…

Traditional controllers have limitations as they rely on prior knowledge about the physics of the problem, require modeling of dynamics, and struggle to adapt to abnormal situations. Deep reinforcement learning has the potential to address…

Deep reinforcement learning (DRL) is a promising approach for developing legged locomotion skills. However, the iterative design process that is inevitable in practice is poorly supported by the default methodology. It is difficult to…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Existing studies on constrained reinforcement learning (RL) may obtain a well-performing policy in the training environment. However, when deployed in a real environment, it may easily violate constraints that were originally satisfied…

This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…

Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…