相关论文: Towards a Sample Efficient Reinforcement Learning …

Deep reinforcement learning has gathered much attention recently. Impressive results were achieved in activities as diverse as autonomous driving, game playing, molecular recombination, and robotics. In all these fields, computer programs…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…

Pretraining is a common technique in deep learning for increasing performance and reducing training time, with promising experimental results in deep reinforcement learning (RL). However, pretraining requires a relevant dataset for…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Surgical robotics is a rapidly evolving field that is transforming the landscape of surgeries. Surgical robots have been shown to enhance precision, minimize invasiveness, and alleviate surgeon fatigue. One promising area of research in…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Recent advances in unsupervised representation learning significantly improved the sample efficiency of training Reinforcement Learning policies in simulated environments. However, similar gains have not yet been seen for real-robot…

Robotic reinforcement learning (RL) holds the promise of enabling robots to learn complex behaviors through experience. However, realizing this promise for long-horizon tasks in the real world requires mechanisms to reduce human burden in…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Reinforcement learning provides a powerful and flexible framework for automated acquisition of robotic motion skills. However, applying reinforcement learning requires a sufficiently detailed representation of the state, including the…

Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set…

Deep-learning-based video processing has yielded transformative results in recent years. However, the video analytics pipeline is energy-intensive due to high data rates and reliance on complex inference algorithms, which limits its…