相关论文: Boosting Reinforcement Learning Algorithms in Cont…

In this paper, We Apply Reinforcement learning (RL) techniques to train a realistic biomechanical model to work with different people and on different walking environments. We benchmarking 3 RL algorithms: Deep Deterministic Policy Gradient…

Finding meaningful and accurate dense rewards is a fundamental task in the field of reinforcement learning (RL) that enables agents to explore environments more efficiently. In traditional RL settings, agents learn optimal policies through…

In this work we propose a learning approach to high-precision robotic assembly problems. We focus on the contact-rich phase, where the assembly pieces are in close contact with each other. Unlike many learning-based approaches that heavily…

Policy gradient (PG) methods in reinforcement learning frequently utilize deep neural networks (DNNs) to learn a shared backbone of feature representations used to compute likelihoods in an action selection layer. Numerous studies have been…

Temporal sequential tasks challenge humanoid robots, as existing Diffusion Policy (DP) and Action Chunking with Transformers (ACT) methods often lack temporal context, resulting in local optima traps and excessive repetitive actions. To…

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…

In this work, we conducted research on deformable object manipulation by robots based on demonstration-enhanced reinforcement learning (RL). To improve the learning efficiency of RL, we enhanced the utilization of demonstration data from…

Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though. We propose a method for learning a dexterous pre-grasp…

Reward shaping is an effective technique for incorporating domain knowledge into reinforcement learning (RL). Existing approaches such as potential-based reward shaping normally make full use of a given shaping reward function. However,…

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement…

The rise of microgrid-based architectures is heavily modifying the energy control landscape in distribution systems making distributed control mechanisms necessary to ensure reliable power system operations. In this paper, we propose the…

Guiding the policy of multi-agent reinforcement learning to align with human common sense is a difficult problem, largely due to the complexity of modeling common sense as a reward, especially in complex and long-horizon multi-agent tasks.…

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…

Most reinforcement learning algorithms are based on a key assumption that Markov decision processes (MDPs) are stationary. However, non-stationary MDPs with dynamic action space are omnipresent in real-world scenarios. Yet problems of…

Deep Reinforcement Learning is gaining increasing attention thanks to its capability to learn complex policies in high-dimensional settings. Recent advancements utilize a dual-network architecture to learn optimal policies through the…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…