相关论文: Solving the Real Robot Challenge using Deep Reinfo…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware of the robot has been considered immutable, modeled as part…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite…

A generally intelligent agent must be able to teach itself how to solve problems in complex domains with minimal human supervision. Recently, deep reinforcement learning algorithms combined with self-play have achieved superhuman…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Deep learning has achieved remarkable successes in solving challenging reinforcement learning (RL) problems when dense reward function is provided. However, in sparse reward environment it still often suffers from the need to carefully…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

The deep supervised and reinforcement learning paradigms (among others) have the potential to endow interactive multimodal social robots with the ability of acquiring skills autonomously. But it is still not very clear yet how they can be…

Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…

Classical control techniques such as PID and LQR have been used effectively in maintaining a system state, but these techniques become more difficult to implement when the model dynamics increase in complexity and sensitivity. For adaptive…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…

Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…