相关论文: Reinforcement Learning Control of a Forestry Crane…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing…

Machine-learning techniques are emerging as a valuable tool in experimental physics, and among them, reinforcement learning offers the potential to control high-dimensional, multistage processes in the presence of fluctuating environments.…

We consider the problem of reinforcement learning when provided with (1) a baseline control policy and (2) a set of constraints that the learner must satisfy. The baseline policy can arise from demonstration data or a teacher agent and may…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

In this paper we propose a framework towards achieving two intertwined objectives: (i) equipping reinforcement learning with active exploration and deliberate information gathering, such that it regulates state and parameter uncertainties…

Climate control is crucial for greenhouse production as it directly affects crop growth and resource use. Reinforcement learning (RL) has received increasing attention in this field, but still faces challenges, including limited training…

A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…

Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as part of the reward function. This requires carefully tuning…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Optimizing the energy management within a smart grids scenario presents significant challenges, primarily due to the complexity of real-world systems and the intricate interactions among various components. Reinforcement Learning (RL) is…

Deep reinforcement learning (DRL) breaks through the bottlenecks of traditional reinforcement learning (RL) with the help of the perception capability of deep learning and has been widely applied in real-world problems.While model-free RL,…

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…

The efficient operation of greenhouses is essential for enhancing crop yield while minimizing energy costs. This paper investigates a control strategy that integrates Reinforcement Learning (RL) and Model Predictive Control (MPC) to…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…

Reinforcement learning (RL) has achieved outstanding success in complex robot control tasks, such as drone racing, where the RL agents have outperformed human champions in a known racing track. However, these agents fail in unseen track…