相关论文: Going into Orbit: Massively Parallelizing Episodic…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…

In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

Reinforcement learning is applied to solve actual complex tasks from high-dimensional, sensory inputs. The last decade has developed a long list of reinforcement learning algorithms. Recent progress benefits from deep learning for raw…

Reinforcement learning systems require good representations to work well. For decades practical success in reinforcement learning was limited to small domains. Deep reinforcement learning systems, on the other hand, are scalable, not…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

This paper contributes the Aerial Gym Simulator, a highly parallelized, modular framework for simulation and rendering of arbitrary multirotor platforms based on NVIDIA Isaac Gym. Aerial Gym supports the simulation of under-, fully- and…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…

Achieving controlled jumping behaviour for a quadruped robot is a challenging task, especially when introducing passive compliance in mechanical design. This study addresses this challenge via imitation-based deep reinforcement learning…

In recent years, reinforcement learning (RL) has shown great potential for solving tasks in well-defined environments like games or robotics. This paper aims to solve the robotic reaching task in a simulation run on the Neurorobotics…

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…

Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop the SPOT framework, which explores within action safety zones,…

Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…

Recently, researchers have made significant progress combining the advances in deep learning for learning feature representations with reinforcement learning. Some notable examples include training agents to play Atari games based on raw…

Reinforcement learning was carried out in a simulated environment to learn continuous velocity control over multiple motor axes. This was then applied to a real-world optical tweezers experiment with the objective of moving a laser-trapped…

We propose a deep reinforcement learning approach for solving a mapless navigation problem in warehouse scenarios. In our approach, an automation guided vehicle is equipped with LiDAR and frontal RGB sensors and learns to perform a targeted…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Although reinforcement learning has seen tremendous success recently, this kind of trial-and-error learning can be impractical or inefficient in complex environments. The use of demonstrations, on the other hand, enables agents to benefit…

Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While…