相关论文: Autonomous Blimp Control using Deep Reinforcement …

Deep Reinforcement Learning (DRL) is applied to control a nonlinear, chaotic system governed by the one-dimensional Kuramoto-Sivashinsky (KS) equation. DRL uses reinforcement learning principles for the determination of optimal control…

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…

We present a system that enables an autonomous small-scale RC car to drive aggressively from visual observations using reinforcement learning (RL). Our system, FastRLAP (faster lap), trains autonomously in the real world, without human…

The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this…

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…

Deep reinforcement learning (DRL) has exhibited considerable promise in the training of control agents for mapless robot navigation. However, DRL-trained agents are limited to the specific robot dimensions used during training, hindering…

Instabilities arise in a number of flow configurations. One such manifestation is the development of interfacial waves in multiphase flows, such as those observed in the falling liquid film problem. Controlling the development of such…

Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local…

This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…

In the coming years and decades, autonomous vehicles (AVs) will become increasingly prevalent, offering new opportunities for safer and more convenient travel and potentially smarter traffic control methods exploiting automation and…

Robotic grasping in densely cluttered environments is challenging due to scarce collision-free grasp affordances. Non-prehensile actions can increase feasible grasps in cluttered environments, but most research focuses on single-arm rather…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…

Deep Reinforcement Learning (DRL) solutions are becoming pervasive at the edge of the network as they enable autonomous decision-making in a dynamic environment. However, to be able to adapt to the ever-changing environment, the DRL…

Mobile users are prone to experience beam failure due to beam drifting in millimeter wave (mmWave) communications. Sensing can help alleviate beam drifting with timely beam changes and low overhead since it does not need user feedback. This…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

Deep reinforcement learning (DRL) is one of the most powerful tools for synthesizing complex robotic behaviors. But training DRL models is incredibly compute and memory intensive, requiring large training datasets and replay buffers to…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…