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Reinforcement learning control of an underground loader is investigated in simulated environment, using a multi-agent deep neural network approach. At the start of each loading cycle, one agent selects the dig position from a depth camera…
Recent successes combine reinforcement learning algorithms and deep neural networks, despite reinforcement learning not being widely applied to robotics and real world scenarios. This can be attributed to the fact that current…
Unloading containers in the courier, express and parcel industry is a physically demanding and labor-intensive work. Automatizing this process is an important step towards increasing the efficiency of parcel-handling systems. This work…
Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…
Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
In recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance.…
Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…
Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…
Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or…
Traditional memory writing operations proceed one bit at a time, where e.g. an individual magnetic domain is force-flipped by a localized external field. One way to increase material storage capacity would be to write several bits at a time…
Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…
Experience replay is one of the most commonly used approaches to improve the sample efficiency of reinforcement learning algorithms. In this work, we propose an approach to select and replay sequences of transitions in order to accelerate…
Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…
We consider a reinforcement learning framework where agents have to navigate from start states to goal states. We prove convergence of a cycle-detection learning algorithm on a class of tasks that we call reducible. Reducible tasks have an…
The process of developing control functions for embedded systems is resource-, time-, and data-intensive, often resulting in sub-optimal cost and solutions approaches. Reinforcement Learning (RL) has great potential for autonomously…
In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests…
Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause…
For many space applications, traditional control methods are often used during operation. However, as the number of space assets continues to grow, autonomous operation can enable rapid development of control methods for different space…
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…