相关论文: Reinforcement Learning of Musculoskeletal Control …

We demonstrate that deep reinforcement learning (deep RL) provides a highly effective strategy for the control and self-tuning of optical systems. Deep RL integrates the two leading machine learning architectures of deep neural networks and…

Achieving human-level dexterity in robotic grasping remains a challenging endeavor. Robotic hands frequently encounter slippage and deformation during object manipulation, issues rarely encountered by humans due to their sensory receptors,…

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

To optimize flapping foil performance, the application of deep reinforcement learning (DRL) on controlling foil non-parametric motion is conducted in the present study. Traditional control techniques and simplified motions cannot fully…

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…

Reference-model-assisted deep reinforcement learning (DRL) for inverter-based Volt-Var Control (IB-VVC) in active distribution networks is proposed. We investigate that a large action space increases the learning difficulties of DRL and…

Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire…

With the advent of universal function approximators in the domain of reinforcement learning, the number of practical applications leveraging deep reinforcement learning (DRL) has exploded. Decision-making in autonomous vehicles (AVs) has…

The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Blood Glucose (BG) control involves keeping an individual's BG within a healthy range through extracorporeal insulin injections is an important task for people with type 1 diabetes. However,traditional patient self-management is cumbersome…

Deep reinforcement learning (DRL) algorithms are rapidly making inroads into fluid mechanics, following the remarkable achievements of these techniques in a wide range of science and engineering applications. In this paper, a deep…

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

The development of a reliable subgrid-scale (SGS) model for large-eddy simulation (LES) is of great importance for many scientific and engineering applications. Recently, deep learning approaches have been tested for this purpose using…

While Deep Reinforcement Learning (DRL) has emerged as a promising approach to many complex tasks, it remains challenging to train a single DRL agent that is capable of undertaking multiple different continuous control tasks. In this paper,…