相关论文: Multiple-Pilot Collaboration for Advanced Remote I…

This paper introduces an information-theoretic constraint on learned policy complexity in the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) reinforcement learning algorithm. Previous research with a related approach in continuous…

Deep reinforcement learning algorithms have recently been used to train multiple interacting agents in a centralised manner whilst keeping their execution decentralised. When the agents can only acquire partial observations and are faced…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…

This paper investigates the application of deep deterministic policy gradient (DDPG) to intelligent reflecting surface (IRS) based unmanned aerial vehicles (UAV) assisted non-orthogonal multiple access (NOMA) downlink networks. The…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

This study is about the implementation of a reinforcement learning algorithm in the trajectory planning of manipulators. We have a 7-DOF robotic arm to pick and place the randomly placed block at a random target point in an unknown…

Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

This paper addresses catastrophic forgetting in mobile edge UAV networks within dynamic spatiotemporal environments. Conventional deep reinforcement learning often fails during task transitions, necessitating costly retraining to adapt to…

Reinforcement learning (RL) often necessitates a meticulous Markov Decision Process (MDP) design tailored to each task. This work aims to address this challenge by proposing a systematic approach to behavior synthesis and control for…

Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…

This paper introduces the deep coordination graph (DCG) for collaborative multi-agent reinforcement learning. DCG strikes a flexible trade-off between representational capacity and generalization by factoring the joint value function of all…

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…

Multi-agent reinforcement learning is a key method for training multi-robot systems. Through rewarding or punishing robots over a series of episodes according to their performance, they can be trained and then deployed in the real world.…

We consider deep deterministic policy gradient (DDPG) in the context of reinforcement learning with sparse rewards. To enhance exploration, we introduce a search procedure, \emph{${\epsilon}{t}$-greedy}, which generates exploratory options…

Due to an ever-increasing number of participants and new areas of application, the demands on mobile communications systems are continually increasing. In order to deliver higher data rates, enable mobility and guarantee QoS requirements of…

We propose a manager-worker framework based on deep reinforcement learning to tackle a hard yet nontrivial variant of Travelling Salesman Problem (TSP), \ie~multiple-vehicle TSP with time window and rejections (mTSPTWR), where customers who…

Mixed cooperative-competitive control scenarios such as human-machine interaction with individual goals of the interacting partners are very challenging for reinforcement learning agents. In order to contribute towards intuitive…