相关论文: Federated Transfer Reinforcement Learning for Auto…

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Learning contact-rich manipulation skills is essential. Such skills require the robots to interact with the environment with feasible manipulation trajectories and suitable compliance control parameters to enable safe and stable contact.…

In recent years, the development of Artificial Intelligence (AI) has shown tremendous potential in diverse areas. Among them, reinforcement learning (RL) has proven to be an effective solution for learning intelligent control strategies. As…

Recent advances in imitative reinforcement learning (IRL) have considerably enhanced the ability of autonomous agents to assimilate expert demonstrations, leading to rapid skill acquisition in a range of demanding tasks. However, such…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

One of the ambitious goals of artificial intelligence is to build a machine that outperforms human intelligence, even if limited knowledge and data are provided. Reinforcement Learning (RL) provides one such possibility to reach this goal.…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

Supervised open-loop training has been widely adopted for training traffic simulation models; however, it fails to capture the inherently dynamic, multi-agent interactions common in complex driving scenarios. We introduce RLFTSim, a…

The growing demand for road use in urban areas has led to significant traffic congestion, posing challenges that are costly to mitigate through infrastructure expansion alone. As an alternative, optimizing existing traffic management…

This paper presents an empirical study of reset-free reinforcement learning (RL) for real-world agile driving, in which a physical 1/10-scale vehicle learns continuously on a slippery indoor track without manual resets. High-speed driving…

The skill to drift a car--i.e., operate in a state of controlled oversteer like professional drivers--could give future autonomous cars maximum flexibility when they need to retain control in adverse conditions or avoid collisions. We…