相关论文: Towards Safe Control of Continuum Manipulator Usin…

Reinforcement learning (RL) is one of the most practical ways to learn from real-life use-cases. Motivated from the cognitive methods used by humans makes it a widely acceptable strategy in the field of artificial intelligence. Most of the…

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Cooperative multi-agent learning methods are essential in developing effective cooperation strategies in multi-agent domains. In robotics, these methods extend beyond multi-robot scenarios to single-robot systems, where they enable…

Deep reinforcement learning (DRL) has demonstrated impressive performance in various gaming simulators and real-world applications. In practice, however, a DRL agent may receive faulty observation by abrupt interferences such as black-out,…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

Recent advancements in deep reinforcement learning (DRL) techniques have sparked its multifaceted applications in the automation sector. Managing complex decision-making problems with DRL encourages its use in the nuclear industry for tasks…

In smart manufacturing, scheduling autonomous internal logistic vehicles is crucial for optimizing operational efficiency. This paper proposes a multi-agent deep Q-network (MADQN) with a layer-based communication channel (LBCC) to address…

Over the past decade, remarkable progress has been made in adopting deep neural networks to enhance the performance of conventional reinforcement learning. A notable milestone was the development of Deep Q-Networks (DQN), which achieved…

Reinforcement learning (RL) emerges as a promising data-driven approach for adaptive traffic signal control (ATSC) in complex urban traffic networks, with deep neural networks substantially augmenting its learning capabilities. However,…

Scalability remains a challenge in multi-agent reinforcement learning and is currently under active research. A framework named mean-field reinforcement learning (MFRL) could alleviate the scalability problem by employing the Mean Field…

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…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

Multi-Agent Reinforcement Learning (MARL) algorithms show amazing performance in simulation in recent years, but placing MARL in real-world applications may suffer safety problems. MARL with centralized shields was proposed and verified in…

Multi-agent reinforcement learning (MARL) has become a significant research topic due to its ability to facilitate learning in complex environments. In multi-agent tasks, the state-action value, commonly referred to as the Q-value, can vary…

In this survey, we review the recent advances in control design methods for robotic multi-agent systems (MAS), focussing on learning-based methods with safety considerations. We start by reviewing various notions of safety and liveness…

In recent years, reinforcement learning and its multi-agent analogue have achieved great success in solving various complex control problems. However, multi-agent reinforcement learning remains challenging both in its theoretical analysis…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…