相关论文: panda-gym: Open-source goal-conditioned environmen…

Open-Ended Learning (OEL) autonomous robots can acquire new skills and knowledge through direct interaction with their environment, relying on mechanisms such as intrinsic motivations and self-generated goals to guide learning processes.…

In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields to achieve reliable control in diverse tasks. In order to…

In recent years, Reinforcement Learning (RL), has become a popular field of study as well as a tool for enterprises working on cutting-edge artificial intelligence research. To this end, many researchers have built RL frameworks such as…

Recent work in deep reinforcement learning (RL) has produced algorithms capable of mastering challenging games such as Go, chess, or shogi. In these works the RL agent directly observes the natural state of the game and controls that state…

This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…

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…

Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach…

We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combining the ease-of-use of a high-level programming language…

In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can be uneven. This is a template of a much larger class of…

Developing bipedal football robots in dynamiccombat environments presents challenges related to motionstability and deep coupling of multiple tasks, as well ascontrol switching issues between different states such as up-right walking and…

Many relevant tasks require an agent to reach a certain state, or to manipulate objects into a desired configuration. For example, we might want a robot to align and assemble a gear onto an axle or insert and turn a key in a lock. These…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

Deep Reinforcement Learning (RL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. To alleviate this issue, we propose to exploit the symmetries…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

We propose to build a reinforcement learning prover of independent components: a deductive system (an environment), the proof state representation (how an agent sees the environment), and an agent training algorithm. To that purpose, we…

It is desirable for future robots to quickly learn new tasks and adapt learned skills to constantly changing environments. To this end, Probabilistic Movement Primitives (ProMPs) have shown to be a promising framework to learn generalizable…

In this work, we propose a novel approach for reinforcement learning driven by evolutionary computation. Our algorithm, dubbed as Evolutionary-Driven Reinforcement Learning (evo-RL), embeds the reinforcement learning algorithm in an…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

We introduce SLiM-Gym, a Python package for integrating reinforcement learning (RL) with forward-time population genetic simulations. Wright-Fisher evolutionary dynamics offer a tractable framework for modeling populations across discrete…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…