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

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based…

Many robot manipulation skills can be represented with deterministic characteristics and there exist efficient techniques for learning parameterized motor plans for those skills. However, one of the active research challenge still remains…

The field of robotic Flexible Endoscopes (FEs) has progressed significantly, offering a promising solution to reduce patient discomfort. However, the limited autonomy of most robotic FEs results in non-intuitive and challenging manoeuvres,…

Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…

Surgical procedures require a high level of technical skill to ensure efficiency and patient safety. Due to the direct effect of surgeon skill on patient outcomes, the development of cost-effective and realistic training methods is…

Most Reinforcement Learning (RL) methods are traditionally studied in an active learning setting, where agents directly interact with their environments, observe action outcomes, and learn through trial and error. However, allowing…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

Reinforcement learning (RL) has garnered increasing recognition for its potential to optimise dynamic treatment regimes (DTRs) in personalised medicine, particularly for drug dosage prescriptions and medication recommendations. However, a…

Groundbreaking successes have been achieved by Deep Reinforcement Learning (DRL) in solving practical decision-making problems. Robotics, in particular, can involve high-cost hardware and human interactions. Hence, scrupulous evaluations of…

Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…

We present BricksRL, a platform designed to democratize access to robotics for reinforcement learning research and education. BricksRL facilitates the creation, design, and training of custom LEGO robots in the real world by interfacing…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

Articulated object manipulation is a challenging task, requiring constrained motion and adaptive control to handle the unknown dynamics of the manipulated objects. While reinforcement learning (RL) has been widely employed to tackle various…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Although robotic imitation learning (RIL) is promising for embodied intelligent robots, existing RIL approaches rely on computationally intensive multi-model trajectory predictions, resulting in slow execution and limited real-time…

Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…