相关论文: A Novel Sample-efficient Deep Reinforcement Learni…

The focus of this work is to enumerate the various approaches and algorithms that center around application of reinforcement learning in robotic ma- ]]nipulation tasks. Earlier methods utilized specialized policy representations and human…

This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…

The behavior decision-making subsystem is a key component of the autonomous driving system, which reflects the decision-making ability of the vehicle and the driver, and is an important symbol of the high-level intelligence of the vehicle.…

Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinforcement learning algorithms which are…

Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

Robot-assisted catheterization has garnered a good attention for its potentials in treating cardiovascular diseases. However, advancing surgeon-robot collaboration still requires further research, particularly on task-specific automation.…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…

This work provides a Deep Reinforcement Learning approach to solving a periodic review inventory control system with stochastic vendor lead times, lost sales, correlated demand, and price matching. While this dynamic program has…

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…

Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by today's visuomotor policies that solely focus on position…

In endovascular surgery, endovascular interventionists push a thin tube called a catheter, guided by a thin wire to a treatment site inside the patient's blood vessels to treat various conditions such as blood clots, aneurysms, and…

Reinforcement learning has been applied to human movement through physiologically-based biomechanical models to add insights into the neural control of these movements; it is also useful in the design of prosthetics and robotics. In this…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…