相关论文: Redundancy-aware Action Spaces for Robot Learning

The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…

In Hindsight Experience Replay (HER), a reinforcement learning agent is trained by treating whatever it has achieved as virtual goals. However, in previous work, the experience was replayed at random, without considering which episode might…

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…

Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

We present an approach to learn fast and dynamic robot motions without exceeding limits on the position $\theta$, velocity $\dot{\theta}$, acceleration $\ddot{\theta}$ and jerk $\dddot{\theta}$ of each robot joint. Movements are generated…

In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…

Reinforcement Learning (RL) has emerged as a highly effective technique for addressing various scientific and applied problems. Despite its success, certain complex tasks remain challenging to be addressed solely with a single model and…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

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…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…

In reinforcement learning, temporal abstraction in the action space, exemplified by action repetition, is a technique to facilitate policy learning through extended actions. However, a primary limitation in previous studies of action…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

Aggressive time-optimal control of quadcopters poses a significant challenge in the field of robotics. The state-of-the-art approach leverages reinforcement learning (RL) to train optimal neural policies. However, a critical hurdle is the…

There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…