相关论文: Sim-to-real reinforcement learning applied to end-…

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and…

Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

We present an end-to-end framework for solving the Vehicle Routing Problem (VRP) using reinforcement learning. In this approach, we train a single model that finds near-optimal solutions for problem instances sampled from a given…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

In the behavioral cloning approach to end-to-end driving, a dataset of expert driving is collected and the model learns to guess what the expert would do in different situations. Situations are summarized in observations and the outputs are…

Considering its advantages in dealing with high-dimensional visual input and learning control policies in discrete domain, Deep Q Network (DQN) could be an alternative method of traditional auto-focus means in the future. In this paper,…

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…

Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…

Most of the current studies on autonomous vehicle decision-making and control tasks based on reinforcement learning are conducted in simulated environments. The training and testing of these studies are carried out under rule-based…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

Despite the remarkable success of Deep RL in learning control policies from raw pixels, the resulting models do not generalize. We demonstrate that a trained agent fails completely when facing small visual changes, and that…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…