相关论文: Beyond Tabula-Rasa: a Modular Reinforcement Learni…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

Training a deep neural network to maximize a target objective has become the standard recipe for successful machine learning over the last decade. These networks can be optimized with supervised learning, if the target objective is…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

This application paper explores the potential of using reinforcement learning (RL) to address the demands of Industry 4.0, including shorter time-to-market, mass customization, and batch size one production. Specifically, we present a use…

Long-horizon tasks in robotic manipulation present significant challenges in reinforcement learning (RL) due to the difficulty of designing dense reward functions and effectively exploring the expansive state-action space. However, despite…

Reinforcement Learning (RL) is a widely employed machine learning architecture that has been applied to a variety of control problems. However, applications in safety-critical domains require a systematic and formal approach to specifying…

This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is developed based on an algorithm called…

Reinforcement learning (RL), earlier proven to be effective in large language and multi-modal models, has been successfully extended to enhance 2D image generation recently. However, applying RL to 3D generation remains largely unexplored…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

In-Hand Manipulation, as many other dexterous tasks, remains a difficult challenge in robotics by combining complex dynamic systems with the capability to control and manoeuvre various objects using its actuators. This work presents the…

In this survey, we systematically summarize the current literature on studies that apply reinforcement learning (RL) to the motion planning and control of autonomous vehicles. Many existing contributions can be attributed to the pipeline…

Bipedal robots are gaining global recognition due to their potential applications and advancements in artificial intelligence, particularly through Deep Reinforcement Learning (DRL). While DRL has significantly advanced bipedal locomotion,…

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering.…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…

Autonomous agents must often deal with conflicting requirements, such as completing tasks using the least amount of time/energy, learning multiple tasks, or dealing with multiple opponents. In the context of reinforcement learning~(RL),…

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…

Reinforcement Learning (RL) has been widely used to solve tasks where the environment consistently provides a dense reward value. However, in real-world scenarios, rewards can often be poorly defined or sparse. Auxiliary signals are…

This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…