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

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

This paper proposes an adaptable path tracking control system based on Reinforcement Learning (RL) for autonomous cars. A four-parameter controller shapes the behavior of the vehicle to navigate on lane changes and roundabouts. The tuning…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

Current deep learning based autonomous driving approaches yield impressive results also leading to in-production deployment in certain controlled scenarios. One of the most popular and fascinating approaches relies on learning vehicle…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

Traffic signal control has long been considered as a critical topic in intelligent transportation systems. Most existing learning methods mainly focus on isolated intersections and suffer from inefficient training. This paper aims at the…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

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…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…

Sim-to-real transfer for contact-rich manipulation remains challenging due to the inherent discrepancy in contact dynamics. While existing methods often rely on costly real-world data or utilize blind compliance through fixed controllers,…

This work presents a technique for learning systems, where the learning process is guided by knowledge of the physics of the system. In particular, we solve the problem of the two-point boundary optimal control problem of linear…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…