相关论文: SurRoL: An Open-source Reinforcement Learning Cent…

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…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Offline reinforcement learning (ORL) holds great promise for robot learning due to its ability to learn from arbitrary pre-generated experience. However, current ORL benchmarks are almost entirely in simulation and utilize contrived…

We present an overview of SURREAL-System, a reproducible, flexible, and scalable framework for distributed reinforcement learning (RL). The framework consists of a stack of four layers: Provisioner, Orchestrator, Protocol, and Algorithms.…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

RSL-RL is an open-source Reinforcement Learning library tailored to the specific needs of the robotics community. Unlike broad general-purpose frameworks, its design philosophy prioritizes a compact and easily modifiable codebase, allowing…

Real-world reinforcement learning (RL) offers a promising approach to training precise and dexterous robotic manipulation policies in an online manner, enabling robots to learn from their own experience while gradually reducing human labor.…

Deep reinforcement learning (DRL), leveraging Deep Learning (DL) in reinforcement learning, has shown significant potential in achieving human-level autonomy in a wide range of domains, including robotics, computer vision, and computer…

Recent advances in reinforcement learning (RL) have increased the promise of introducing cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS). However, progress in algorithms and methods depends on the…

In collaborative human-robot tasks, safety requires not only avoiding collisions but also ensuring safe, intentional physical contact. We present ContactRL, a reinforcement learning (RL) based framework that directly incorporates contact…

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…

Robot-assisted minimally invasive surgery, such as through the da Vinci systems, improves precision and patient outcomes. However, da Vinci systems prior to da Vinci 5, lacked direct force-sensing capabilities, forcing surgeons to operate…

We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably,…

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of…

Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…