相关论文: End-to-end Reinforcement Learning of Robotic Manip…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Recent deep reinforcement learning (DRL) successes rely on end-to-end learning from fixed-size observational inputs (e.g. image, state-variables). However, many challenging and interesting problems in decision making involve observations or…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Reinforcement Learning (RL) is a general framework concerned with an agent that seeks to maximize rewards in an environment. The learning typically happens through trial and error using explorative methods, such as epsilon-greedy. There are…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For…

We present research using the latest reinforcement learning algorithm for end-to-end driving without any mediated perception (object recognition, scene understanding). The newly proposed reward and learning strategies lead together to…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourced from simulation environments - limits real-world…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can be uneven. This is a template of a much larger class of…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…