相关论文: Deep Reinforcement Learning Based Semi-Autonomous …

Autonomous navigation has recently gained great interest in the field of reinforcement learning. However, little attention was given to the time optimal velocity control problem, i.e. controlling a vehicle such that it travels at the…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

Considering its advantages in dealing with high-dimensional visual input and learning control policies in discrete domain, Deep Q Network (DQN) could be an alternative method of traditional auto-focus means in the future. In this paper,…

Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather than relying on a hand-crafted, modular pipeline. However, the…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

This paper presents a novel motion and trajectory planning algorithm for nonholonomic mobile robots that uses recent advances in deep reinforcement learning. Starting from a random initial state, i.e., position, velocity and orientation,…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Robot-assisted minimally invasive surgeries offer many advantages but require complex motor tasks that take surgeons years to master. There is currently a lack of knowledge on how surgeons acquire these robotic surgical skills. Toward…

Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…

Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Research on autonomous surgery has largely focused on simple task automation in controlled environments. However, real-world surgical applications demand dexterous manipulation over extended durations and generalization to the inherent…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

End-to-end reinforcement learning techniques are among the most successful methods for robotic manipulation tasks. However, the training time required to find a good policy capable of solving complex tasks is prohibitively large. Therefore,…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

Deep reinforcement learning is poised to revolutionise the field of AI and represents a step towards building autonomous systems with a higher level understanding of the visual world. Currently, deep learning is enabling reinforcement…