相关论文: A Review of Nine Physics Engines for Reinforcement…

Reinforcement learning (RL) algorithms should learn as much as possible about the environment but not the properties of the physics engines that generate the environment. There are multiple algorithms that solve the task in a physics engine…

High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

Quadruped mobile manipulators offer strong potential for agile loco-manipulation but remain difficult to control and transfer reliably from simulation to reality. Reinforcement learning (RL) shows promise for whole-body control, yet most…

This letter compares the performance of four different, popular simulation environments for robotics and reinforcement learning (RL) through a series of benchmarks. The benchmarked scenarios are designed carefully with current industrial…

This paper introduces Unity RL Playground, an open-source reinforcement learning framework built on top of Unity ML-Agents. Unity RL Playground automates the process of training mobile robots to perform various locomotion tasks such as…

Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots, each with unique strengths. RL learns control policies through system interaction, adapting to various scenarios,…

Current embodied reasoning agents struggle to plan for long-horizon tasks that require to physically interact with the world to obtain the necessary information (e.g. 'sort the objects from lightest to heaviest'). The improvement of the…

Unmanned aerial vehicles (UAVs) have numerous applications, but their efficient and optimal flight can be a challenge. Reinforcement Learning (RL) has emerged as a promising approach to address this challenge, yet there is no standardized…

Driven by inherent uncertainty and the sim-to-real gap, robust reinforcement learning (RL) seeks to improve resilience against the complexity and variability in agent-environment sequential interactions. Despite the existence of a large…

Combinatorial optimization (CO) is fundamental to several real-world applications, from logistics and scheduling to hardware design and resource allocation. Deep reinforcement learning (RL) has recently shown significant benefits in solving…

With AlphaGo defeats top human players, reinforcement learning(RL) algorithms have gradually become the code-base of building stronger artificial intelligence(AI). The RL algorithm design firstly needs to adapt to the specific environment,…

We present Brax, an open source library for rigid body simulation with a focus on performance and parallelism on accelerators, written in JAX. We present results on a suite of tasks inspired by the existing reinforcement learning…

Recently, improving the robustness of policies across different environments attracts increasing attention in the reinforcement learning (RL) community. Existing robust RL methods mostly aim to achieve the max-min robustness by optimizing…

In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…

Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for…

One problem with researching cognitive modeling and reinforcement learning (RL) is that researchers spend too much time on setting up an appropriate computational framework for their experiments. Many open source implementations of current…

This study surveys the historical development of regularization, tracing its evolution from stepwise regression in the 1960s to recent advancements in formal error control, structured penalties for non-independent features, Bayesian…

Current deep reinforcement learning (RL) approaches incorporate minimal prior knowledge about the environment, limiting computational and sample efficiency. \textit{Objects} provide a succinct and causal description of the world, and many…

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are…