相关论文: HRL4IN: Hierarchical Reinforcement Learning for In…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

Goal-conditioned hierarchical reinforcement learning (HRL) presents a promising approach for enabling effective exploration in complex, long-horizon reinforcement learning (RL) tasks through temporal abstraction. Empirically, heightened…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Despite strong generalization capabilities, Vision-Language-Action (VLA) models remain constrained by the high cost of expert demonstrations and limited real-world interaction. While online reinforcement learning (RL) has shown promise, its…

Hierarchical reinforcement learning (HRL) enables agents to solve complex, long-horizon tasks by decomposing them into manageable sub-tasks. However, HRL methods face two fundamental challenges: (i) non-stationarity caused by the evolving…

Despite significant progress in autonomous vehicles (AVs), the development of driving policies that ensure both the safety of AVs and traffic flow efficiency has not yet been fully explored. In this paper, we propose an enhanced…

Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…

Large Language Models (LLMs) have demonstrated remarkable abilities in various language tasks, making them promising candidates for decision-making in robotics. Inspired by Hierarchical Reinforcement Learning (HRL), we propose…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Developing autonomous LLM agents capable of making a series of intelligent decisions to solve complex, real-world tasks is a fast-evolving frontier. Like human cognitive development, agents are expected to acquire knowledge and skills…

This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…

This paper presents a novel heuristic deep reinforcement learning (HDRL) framework designed to optimize reconfigurable intelligent surface (RIS) phase shifts in secure satellite communication systems utilizing rate splitting multiple access…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Training LLMs as interactive agents for multi-turn decision-making remains challenging, particularly in long-horizon tasks with sparse and delayed rewards, where agents must execute extended sequences of actions before receiving meaningful…

Training robots to navigate diverse environments is a challenging problem as it involves the confluence of several different perception tasks such as mapping and localization, followed by optimal path-planning and control. Recently released…

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…