相关论文: Hierarchical reinforcement learning for in-hand ro…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…

Deep reinforcement learning has recently achieved strong results in quadrupedal locomotion, yet policies trained in simulation often fail to transfer when the environment changes. Evolutionary reinforcement learning aims to address this…

Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…

In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach combines reinforcement learning based on visual perception…

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…

Robots need to learn behaviors in intuitive and practical ways for widespread deployment in human environments. To learn a robot behavior end-to-end, we train a variant of the ResNet that maps eye-in-hand camera images to end-effector…

High precision assembly of mechanical parts requires accuracy exceeding the robot precision. Conventional part mating methods used in the current manufacturing requires tedious tuning of numerous parameters before deployment. We show how…

The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…

In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomization of heading that the robot must follow to foster…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

The autonomous control of flippers plays an important role in enhancing the intelligent operation of tracked robots within complex environments. While existing methods mainly rely on hand-crafted control models, in this paper, we introduce…

Recently, researchers have made significant progress combining the advances in deep learning for learning feature representations with reinforcement learning. Some notable examples include training agents to play Atari games based on raw…

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…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

Hindsight Experience Replay (HER) is one of the efficient algorithm to solve Reinforcement Learning tasks related to sparse rewarded environments.But due to its reduced sample efficiency and slower convergence HER fails to perform…

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…

Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose ReinforceGen, a system that combines task decomposition, data generation, imitation learning, and motion planning to form an initial…

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…

Resource-constrained robotic platforms are particularly useful for tasks that require low-cost hardware alternatives due to the risk of losing the robot, like in search-and-rescue applications, or the need for a large number of devices,…