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

We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19,000 frames of experience per second on a single GPU and…

Learning effective policies for real-world problems is still an open challenge for the field of reinforcement learning (RL). The main limitation being the amount of data needed and the pace at which that data can be obtained. In this paper,…

Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…

Quantum federated learning (QFL) is an emerging field that has the potential to revolutionize computation by taking advantage of quantum physics concepts in a distributed machine learning (ML) environment. However, the majority of available…

In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…

Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Recent advances in parallel computing and GPU acceleration have created new opportunities for computation-intensive learning problems such as Active SLAM -- where actions are selected to reduce uncertainty and improve joint mapping and…

Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to unmodeled nonlinearities in the real system, however, even…

Ensuring strict safety guarantees is the paramount challenge for emerging 5G/6G wireless systems, particularly as they increasingly govern mission-critical applications ranging from autonomous UAV swarms to industrial automation. While deep…

Reinforcement Learning (RL) is a machine learning framework for artificially intelligent systems to solve a variety of complex problems. Recent years has seen a surge of successes solving challenging games and smaller domain problems,…

Deep Reinforcement Learning (DRL) has demonstrated impressive results in domains such as games and robotics, where task formulations are well-defined. However, few DRL benchmarks are grounded in complex, real-world environments, where…

Multi-rotor UAVs suffer from a restricted range and flight duration due to limited battery capacity. Autonomous landing on a 2D moving platform offers the possibility to replenish batteries and offload data, thus increasing the utility of…

It is well known that it is difficult to have a reliable and robust framework to link multi-agent deep reinforcement learning algorithms with practical multi-robot applications. To fill this gap, we propose and build an open-source…

This paper aims to design quadrotor swarm performances, where the swarm acts as an integrated, coordinated unit embodying moving and deforming objects. We divide the task of creating a choreography into three basic steps: designing swarm…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Deep Reinforcement Learning (DRL) experiments are commonly performed in simulated environments due to the tremendous training sample demands from deep neural networks. In contrast, model-based Bayesian Learning allows a robot to learn good…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

Reinforcement learning (RL) in few-shot scenarios with limited sensor data is challenging due to insufficient training samples, particularly in applications like Dynamic Voltage and Frequency Scaling (DVFS) where sensor readings are…