相关论文: Dexterous Robotic Manipulation using Deep Reinforc…

Dexterous multi-fingered hands are extremely versatile and provide a generic way to perform a multitude of tasks in human-centric environments. However, effectively controlling them remains challenging due to their high dimensionality and…

This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand systems, where the remote human-robot interactions via augmented reality (AR) are established to collect the expert demonstration data for…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

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…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensional control. While reinforcement learning (RL) can alleviate…

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…

We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies which can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

We propose a general and model-free approach for Reinforcement Learning (RL) on real robotics with sparse rewards. We build upon the Deep Deterministic Policy Gradient (DDPG) algorithm to use demonstrations. Both demonstrations and actual…

Deep reinforcement learning yields great results for a large array of problems, but models are generally retrained anew for each new problem to be solved. Prior learning and knowledge are difficult to incorporate when training new models,…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…