相关论文: Towards a Sample Efficient Reinforcement Learning …

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

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…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

Data preparation, i.e. the process of transforming raw data into a format that can be used for training effective machine learning models, is a tedious and time-consuming task. For image data, preprocessing typically involves a sequence of…

Developing a safe, stable, and efficient obstacle avoidance policy in crowded and narrow scenarios for multiple robots is challenging. Most existing studies either use centralized control or need communication with other robots. In this…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Dexterous multi-fingered hands are extremely versatile and provide a generic way to perform a multitude of tasks in human-centric environments. However, effectively controlling them remains challenging due to their high dimensionality and…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as environment exploration, while ensuring it can avoid unsafe…

An effective way to achieve intelligence is to simulate various intelligent behaviors in the human brain. In recent years, bio-inspired learning methods have emerged, and they are different from the classical mathematical programming…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures to reduce energy costs in underwater robotics, the crucial…

Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…

The pursuit of agile and efficient underwater robots, especially bio-mimetic robotic fish, has been impeded by challenges in creating motion controllers that are able to fully exploit their hydrodynamic capabilities. This paper addresses…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

In this paper, we present a safe deep reinforcement learning system for automated driving. The proposed framework leverages merits of both rule-based and learning-based approaches for safety assurance. Our safety system consists of two…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…