相关论文: A Q-learning Control Method for a Soft Robotic Arm…

As technology progresses, industrial and scientific robots are increasingly being used in diverse settings. In many cases, however, programming the robot to perform such tasks is technically complex and costly. To maximize the utility of…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…

Common approaches to control a data-center cooling system rely on approximated system/environment models that are built upon the knowledge of mechanical cooling and electrical and thermal management. These models are difficult to design and…

The recent advances in machine learning hold great promise for the fields of quantum sensing and metrology. With the help of reinforcement learning, we can tame the complexity of quantum systems and solve the problem of optimal experimental…

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…

This paper is dedicated to the application of reinforcement learning combined with neural networks to the general formulation of user scheduling problem. Our simulator resembles real world problems by means of stochastic changes in…

This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…

In this work, we present a scalable reinforcement learning method for training multi-task policies from large offline datasets that can leverage both human demonstrations and autonomously collected data. Our method uses a Transformer to…

We consider the task of learning control policies for a robotic mechanism striking a puck in an air hockey game. The control signal is a direct command to the robot's motors. We employ a model free deep reinforcement learning framework to…

To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…

Since loose-fitting clothing contains dynamic modes that have proven to be difficult to predict via neural networks, we first illustrate how to coarsely approximate these modes with a real-time numerical algorithm specifically designed to…

Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model-free reinforcement…

In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challenging task in various surgical interventions, which makes it a…

Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…

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…

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…

Torque and continuous rotation are fundamental methods of actuation and manipulation in rigid robots. Soft robot arms use soft materials and structures to mimic the passive compliance of biological arms that bend and extend. This use of…

Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex contact dynamics and multisensory signals, especially…