相关论文: Interferobot: aligning an optical interferometer b…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Reinforcement Learning (RL) is a popular machine learning paradigm where intelligent agents interact with the environment to fulfill a long-term goal. Driven by the resurgence of deep learning, Deep RL (DRL) has witnessed great success over…

Designing suitable reward functions for numerous interacting intelligent agents is challenging in real-world applications. Inverse reinforcement learning (IRL) in mean field games (MFGs) offers a practical framework to infer reward…

Rather than proposing a new method, this paper investigates an issue present in existing learning algorithms. We study the learning dynamics of reinforcement learning (RL), specifically a characteristic coupling between learning and data…

Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…

Reinforcement Learning (RL) is a general framework concerned with an agent that seeks to maximize rewards in an environment. The learning typically happens through trial and error using explorative methods, such as epsilon-greedy. There are…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

In many computational science and engineering applications, the output of a system of interest corresponding to a given input can be queried at different levels of fidelity with different costs. Typically, low-fidelity data is cheap and…

Reinforcement learning (RL) has recently been used for solving challenging decision-making problems in the context of automated driving. However, one of the main drawbacks of the presented RL-based policies is the lack of safety guarantees,…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…

Reinforcement Learning and, recently, Deep Reinforcement Learning are popular methods for solving sequential decision-making problems modeled as Markov Decision Processes. RL modeling of a problem and selecting algorithms and…

Socially aware robots should be able, among others, to support fluent human-robot collaboration in tasks that require interdependent actions in order to be solved. Towards enhancing mutual performance, collaborative robots should be…

Recent studies have shown that reinforcement learning (RL) is an effective approach for improving the performance of neural machine translation (NMT) system. However, due to its instability, successfully RL training is challenging,…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

The capability to learn and adapt to changes in the driving environment is crucial for developing autonomous driving systems that are scalable beyond geo-fenced operational design domains. Deep Reinforcement Learning (RL) provides a…

Effective feature selection, representation and transformation are principal steps in machine learning to improve prediction accuracy, model generalization and computational efficiency. Reinforcement learning provides a new perspective…