相关论文: Towards Continual Reinforcement Learning for Quadr…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

We study reinforcement learning in settings where sampling an action from the policy must be done concurrently with the time evolution of the controlled system, such as when a robot must decide on the next action while still performing the…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

In recent years deep reinforcement learning (RL) systems have attained superhuman performance in a number of challenging task domains. However, a major limitation of such applications is their demand for massive amounts of training data. A…

Service robots are appearing more and more in our daily life. The development of service robots combines multiple fields of research, from object perception to object manipulation. The state-of-the-art continues to improve to make a proper…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

Many sequential decision-making problems that are currently automated, such as those in manufacturing or recommender systems, operate in an environment where there is either little uncertainty, or zero risk of catastrophe. As companies and…

Generalization and adaptation of learned skills to novel situations is a core requirement for intelligent autonomous robots. Although contextual reinforcement learning provides a principled framework for learning and generalization of…

Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Reinforcement learning (RL), particularly its combination with deep neural networks referred to as deep RL (DRL), has shown tremendous promise across a wide range of applications, suggesting its potential for enabling the development of…

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…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

Jumping is essential for legged robots to traverse through difficult terrains. In this work, we propose a hierarchical framework that combines optimal control and reinforcement learning to learn continuous jumping motions for quadrupedal…

Multiple supervised learning scenarios are composed by a sequence of classification tasks. For instance, multi-task learning and continual learning aim to learn a sequence of tasks that is either fixed or grows over time. Existing…

Deep learning techniques have become one of the main propellers for solving engineering problems effectively and efficiently. For instance, Predictive Maintenance methods have been used to improve predictions of when maintenance is needed…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

The problem of reinforcement learning is considered where the environment or the model undergoes a change. An algorithm is proposed that an agent can apply in such a problem to achieve the optimal long-time discounted reward. The algorithm…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…