相关论文: DayDreamer: World Models for Physical Robot Learni…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires…

One of the key challenges in applying reinforcement learning to complex robotic control tasks is the need to gather large amounts of experience in order to find an effective policy for the task at hand. Model-based reinforcement learning…

Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomously learns actions to maximize its reward. Existing…

As technology progresses, industrial and scientific robots are increasingly being used in diverse settings. In many cases, however, programming the robot to perform such tasks is technically complex and costly. To maximize the utility of…

We present a learning-based mapless motion planner by taking the sparse 10-dimensional range findings and the target position with respect to the mobile robot coordinate frame as input and the continuous steering commands as output.…

Rather than programming, training allows robots to achieve behaviors that generalize better and are capable to respond to real-world needs. However, such training requires a big amount of experimentation which is not always feasible for a…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

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…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

We integrate a meta-reinforcement learning algorithm with the DreamerV3 architecture to improve load balancing in operating systems. This approach enables rapid adaptation to dynamic workloads with minimal retraining, outperforming the…

Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…

Sample efficiency is a critical challenge in reinforcement learning. Model-based RL has emerged as a solution, but its application has largely been confined to single-agent scenarios. In this work, we introduce CoDreamer, an extension of…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Reinforcement learning has been demonstrated as a flexible and effective approach for learning a range of continuous control tasks, such as those used by robots to manipulate objects in their environment. But in robotics particularly,…