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

In this paper, we place deep Q-learning into a control-oriented perspective and study its learning dynamics with well-established techniques from robust control. We formulate an uncertain linear time-invariant model by means of the neural…

We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics using traditional robotic tools that extend state-of-the-art DRL implementations and provide an end-to-end approach which trains a robot directly from…

Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…

We develop a deep reinforcement learning method for training a jellyfish-like swimmer to effectively track a moving target in a two-dimensional flow. This swimmer is a flexible object equipped with a muscle model based on torsional springs.…

Recently, 6G in-X subnetworks have been proposed as low-power short-range radio cells to support localized extreme wireless connectivity inside entities such as industrial robots, vehicles, and the human body. Deployment of in-X subnetworks…

With the advancement of artificial intelligence technology, the automation of network management, also known as Autonomous Driving Networks (ADN), is gaining widespread attention. The network management has shifted from traditional…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Model-free reinforcement learning based methods such as Proximal Policy Optimization, or Q-learning typically require thousands of interactions with the environment to approximate the optimum controller which may not always be feasible in…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

In real-world multi-robot systems, performing high-quality, collaborative behaviors requires robots to asynchronously reason about high-level action selection at varying time durations. Macro-Action Decentralized Partially Observable Markov…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

We utilize hybrid quantum deep reinforcement learning to learn navigation tasks for a simple, wheeled robot in simulated environments of increasing complexity. For this, we train parameterized quantum circuits (PQCs) with two different…

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…

Due to the complexity and volatility of the traffic environment, decision-making in autonomous driving is a significantly hard problem. In this project, we use a Deep Q-Network, along with rule-based constraints to make lane-changing…

Unmanned Aerial Vehicles (UAVs) are increasingly used as aerial base stations to provide ad hoc communications infrastructure. Building upon prior research efforts which consider either static nodes, 2D trajectories or single UAV systems,…

Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

We propose a learning architecture that allows symbolic control and guidance in reinforcement learning with deep neural networks. We introduce SymDQN, a novel modular approach that augments the existing Dueling Deep Q-Networks (DuelDQN)…

One of the crucial problems in robotic swarm-based operation is to search and neutralize heterogeneous targets in an unknown and uncertain environment, without any communication within the swarm. Here, some targets can be neutralized by a…

In this paper, the implementation of two Reinforcement learnings namely, Q Learning and Deep Q Network(DQN) on a Self Balancing Robot Gazebo model has been discussed. The goal of the experiments is to make the robot model learn the best…