相关论文: A Reinforcement Learning Environment for Multi-Ser…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

While Reinforcement Learning can achieve impressive results for complex tasks, the learned policies are generally prone to fail in downstream tasks with even minor model mismatch or unexpected perturbations. Recent works have demonstrated…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

This paper addresses the dire need for a platform that efficiently provides a framework for running reinforcement learning (RL) experiments. We propose the CaiRL Environment Toolkit as an efficient, compatible, and more sustainable…

In this paper, we design a navigation policy for multiple unmanned aerial vehicles (UAVs) where mobile base stations (BSs) are deployed to improve the data freshness and connectivity to the Internet of Things (IoT) devices. First, we…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

In this work we explore the use of latent representations obtained from multiple input sensory modalities (such as images or sounds) in allowing an agent to learn and exploit policies over different subsets of input modalities. We propose a…

With the rapidly growing expansion in the use of UAVs, the ability to autonomously navigate in varying environments and weather conditions remains a highly desirable but as-of-yet unsolved challenge. In this work, we use Deep Reinforcement…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

We introduce Arena, a toolkit for multi-agent reinforcement learning (MARL) research. In MARL, it usually requires customizing observations, rewards and actions for each agent, changing cooperative-competitive agent-interaction, and playing…

As AI agents leave the lab and venture into the real world as autonomous vehicles, delivery robots, and cooking robots, it is increasingly necessary to design and comprehensively evaluate algorithms that tackle the ``open-world''. To this…

Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…

In this paper, we investigate a multi-user downlink multiple-input single-output (MISO) unmanned aerial vehicle (UAV) communication system, where a multi-antenna UAV is employed to serve multiple ground terminals. Unlike existing approaches…

We study what actually works and what doesn't for training large language models as agents via multi-turn reinforcement learning. Despite rapid progress, existing frameworks and definitions are fragmented, and there is no systematic…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Scheduling plays an important role in automated production. Its impact can be found in various fields such as the manufacturing industry, the service industry and the technology industry. A scheduling problem (NP-hard) is a task of finding…

Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…