相关论文: A Multi-Agent Approach for Adaptive Finger Coopera…

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…

Multiagent reinforcement learning algorithms (MARL) have been demonstrated on complex tasks that require the coordination of a team of multiple agents to complete. Existing works have focused on sharing information between agents via…

Robotic manipulation remains challenging for reinforcement learning due to contact-rich dynamics, long horizons, and training instability. Although off-policy actor-critic algorithms such as SAC and TD3 perform well in simulation, they…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

In graph-structured multi-agent reinforcement learning (MARL) adversarial tasks such as pursuit and confrontation, agents must coordinate under highly dynamic interactions, where sparse rewards hinder efficient policy learning. We propose…

Deep Reinforcement Learning has made significant progress in multi-agent systems in recent years. In this review article, we have focused on presenting recent approaches on Multi-Agent Reinforcement Learning (MARL) algorithms. In…

Cooperative Multi-Agent Reinforcement Learning (MARL) solves complex tasks that require coordination from multiple agents, but is often limited to either local (independent learning) or global (centralized learning) perspectives. In this…

We present a method for reproducing complex multi-character interactions for physically simulated humanoid characters using deep reinforcement learning. Our method learns control policies for characters that imitate not only individual…

We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and…

We study the problem of learning multi-task, multi-agent policies for cooperative, temporal objectives, under centralized training, decentralized execution. In this setting, using automata to represent tasks enables the decomposition of…

In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning…

Multi-agent settings remain a fundamental challenge in the reinforcement learning (RL) domain due to the partial observability and the lack of accurate real-time interactions across agents. In this paper, we propose a new method based on…

Multi-agent reinforcement learning (MARL) has been increasingly explored to learn the cooperative policy towards maximizing a certain global reward. Many existing studies take advantage of graph neural networks (GNN) in MARL to propagate…

Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of…

Deep reinforcement learning has been applied successfully to solve various real-world problems and the number of its applications in the multi-agent settings has been increasing. Multi-agent learning distinctly poses significant challenges…

In multi-agent reinforcement learning (MARL), independent learning (IL) often shows remarkable performance and easily scales with the number of agents. Yet, using IL can be inefficient and runs the risk of failing to successfully train,…

Recent advancements in Large Language Models (LLMs) have demonstrated substantial capabilities in enhancing communication and coordination in multi-robot systems. However, existing methods often struggle to achieve efficient collaboration…

The role concept provides a useful tool to design and understand complex multi-agent systems, which allows agents with a similar role to share similar behaviors. However, existing role-based methods use prior domain knowledge and predefine…

Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle…

Many real-world problems, such as network packet routing and urban traffic control, are naturally modeled as multi-agent reinforcement learning (RL) problems. However, existing multi-agent RL methods typically scale poorly in the problem…