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

Previous works showed that Deep-RL can be applied to perform mapless navigation, including the medium transition of Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). This paper presents new approaches based on the state-of-the-art…

The relentless expansion of deep learning applications in recent years has prompted a pivotal shift toward on-device execution, driven by the urgent need for real-time processing, heightened privacy concerns, and reduced latency across…

In this work we focus on improving the efficiency and generalisation of learned navigation strategies when transferred from its training environment to previously unseen ones. We present an extension of the residual reinforcement learning…

Feature transformation enhances downstream task performance by generating informative features through mathematical feature crossing. Despite the advancements in deep learning, feature transformation remains essential for structured data,…

Building Reinforcement Learning (RL) algorithms which are able to adapt to continuously evolving tasks is an open research challenge. One technology that is known to inherently handle such non-stationary input patterns well is Hierarchical…

Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Taking advantage of both vehicle-to-everything (V2X) communication and automated driving technology, connected and automated vehicles are quickly becoming one of the transformative solutions to many transportation problems. However, in a…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

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…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools compared to more commonly used objects like cubes or…

Geomagnetic navigation has drawn increasing attention with its capacity in navigating through complex environments and its independence from external navigation services like global navigation satellite systems (GNSS). Existing studies on…

In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution. We introduce a multi-agent reinforcement learning…

The Vision-and-Language Navigation (VLN) task requires an agent to follow natural language instructions and navigate through complex environments. Existing MLLM-based VLN methods primarily rely on imitation learning (IL) and often use…

We propose a hierarchical reinforcement learning method, HIDIO, that can learn task-agnostic options in a self-supervised manner while jointly learning to utilize them to solve sparse-reward tasks. Unlike current hierarchical RL approaches…

Embodied AI agents in large scenes often need to navigate to find objects. In this work, we study a naturally emerging variant of the object navigation task, hierarchical relational object navigation (HRON), where the goal is to find…

This paper explores the integration of incremental curriculum learning (ICL) with deep reinforcement learning (DRL) techniques to facilitate mobile robot navigation through task-based human instruction. By adopting a curriculum that mirrors…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…