相关论文: QuadSwarm: A Modular Multi-Quadrotor Simulator for…

Deep reinforcement learning (DRL) is one of the most powerful tools for synthesizing complex robotic behaviors. But training DRL models is incredibly compute and memory intensive, requiring large training datasets and replay buffers to…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

Multi-task Reinforcement Learning (MTRL) has emerged as a critical training paradigm for applying reinforcement learning (RL) to a set of complex real-world robotic tasks, which demands a generalizable and robust policy. At the same time,…

Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…

Reinforcement learning (RL) has driven significant progress in robotics, but its complexity and long training times remain major bottlenecks. In this report, we introduce FastTD3, a simple, fast, and capable RL algorithm that significantly…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

The ever-growing complexity of reinforcement learning (RL) tasks demands a distributed system to efficiently generate and process a massive amount of data. However, existing open-source libraries suffer from various limitations, which…

In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Deep reinforcement learning continues to show tremendous potential in achieving task-level autonomy, however, its computational and energy demands remain prohibitively high. In this paper, we tackle this problem by applying quantization to…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…

Aerial robots interacting with objects must perform precise, contact-rich maneuvers under uncertainty. In this paper, we study the problem of aerial ball juggling using a quadrotor equipped with a racket, a task that demands accurate…

Quantum machine learning (QML) has received a lot of attention according to its light training parameter numbers and speeds; and the advances of QML lead to active research on quantum multi-agent reinforcement learning (QMARL). Existing…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

In this paper, we introduce Quantum-Train-Based Distributed Multi-Agent Reinforcement Learning (Dist-QTRL), a novel approach to addressing the scalability challenges of traditional Reinforcement Learning (RL) by integrating quantum…

The stabilization of quantum states is a fundamental problem for realizing various quantum technologies. Measurement-based-feedback strategies have demonstrated powerful performance, and the construction of quantum control signals using…

Real-time control of pumps can be an infeasible task in water distribution systems (WDSs) because the calculation to find the optimal pump speeds is resource-intensive. The computational need cannot be lowered even with the capabilities of…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on…

Reinforcement learning (RL) is an area of research that has blossomed tremendously in recent years and has shown remarkable potential for artificial intelligence based opponents in computer games. This success is primarily due to the vast…