相关论文: Flexible Gear Assembly With Visual Servoing and Fo…

Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making classical control challenging. Deep…

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…

This paper presents a deep reinforcement learning (DRL) framework for active flow control (AFC) to reduce drag in aerodynamic bodies. Tested on a 3D cylinder at Re = 100, the DRL approach achieved a 9.32% drag reduction and a 78.4% decrease…

Tactile information is important for robust performance in robotic tasks that involve physical interaction, such as object manipulation. However, with more data included in the reasoning and control process, modeling behavior becomes…

In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as…

As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…

We present a novel technique called Dynamic Experience Replay (DER) that allows Reinforcement Learning (RL) algorithms to use experience replay samples not only from human demonstrations but also successful transitions generated by RL…

Order picking is a pivotal operation in warehouses that directly impacts overall efficiency and profitability. This study addresses the dynamic order picking problem, a significant concern in modern warehouse management, where real-time…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…

In recent years, autonomous driving has become a popular field of study. As control at tire grip limit is essential during emergency situations, algorithms developed for racecars are useful for road cars too. This paper examines the use of…

Deep reinforcement learning (DRL) has been demonstrated to be effective for several complex decision-making applications such as autonomous driving and robotics. However, DRL is notoriously limited by its high sample complexity and its lack…

Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Autonomous driving systems are always built on motion-related modules such as the planner and the controller. An accurate and robust trajectory tracking method is indispensable for these motion-related modules as a primitive routine.…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…

Reinforcement learning (RL) is always the preferred embodiment to construct the control strategy of complex tasks, like asymmetric assembly tasks. However, the convergence speed of reinforcement learning severely restricts its practical…

Optimizing discrete phase shifts in large-scale reconfigurable intelligent surfaces (RISs) is challenging due to their non-convex and non-linear nature. In this letter, we propose a heuristic-integrated deep reinforcement learning (DRL)…

Reinforcement learning (RL) is widely used in autonomous driving tasks and training RL models typically involves in a multi-step process: pre-training RL models on simulators, uploading the pre-trained model to real-life robots, and…