相关论文: Learning to Grasp from 2.5D images: a Deep Reinfor…

Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the range sensor because its input format is fixed. In this…

We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb…

Deep Reinforcement Learning (DRL) has emerged as a powerful model-free paradigm for learning optimal policies. However, in navigation tasks with cluttered environments, DRL methods often suffer from insufficient exploration, especially…

Effective traffic control methods have great potential in alleviating network congestion. Existing literature generally focuses on a single control approach, while few studies have explored the effectiveness of integrated and coordinated…

Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…

The robotic handling of compliant and deformable food raw materials, characterized by high biological variation, complex geometrical 3D shapes, and mechanical structures and texture, is currently in huge demand in the ocean space,…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

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…

Deep learning has shown great promise for CT image reconstruction, in particular to enable low dose imaging and integrated diagnostics. These merits, however, stand at great odds with the low availability of diverse image data which are…

Deep reinforcement learning (deep RL) has been successful in learning sophisticated behaviors automatically; however, the learning process requires a huge number of trials. In contrast, animals can learn new tasks in just a few trials,…

Although Deep Reinforcement Learning (DRL) has been popular in many disciplines including robotics, state-of-the-art DRL algorithms still struggle to learn long-horizon, multi-step and sparse reward tasks, such as stacking several blocks…

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".…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

How can robots learn dexterous grasping skills efficiently and apply them adaptively based on user instructions? This work tackles two key challenges: efficient skill acquisition from limited human demonstrations and context-driven skill…

Learning-based color enhancement approaches typically learn to map from input images to retouched images. Most of existing methods require expensive pairs of input-retouched images or produce results in a non-interpretable way. In this…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

This demo abstract presents the visualization of deep reinforcement learning (DRL)-based autonomous aerial mobility simulations. In order to implement the software, Unity-RL is used and additional buildings are introduced for urban…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…