相关论文: RobocupGym: A challenging continuous control bench…

Reinforcement learning is an active research area with a vast number of applications in robotics, and the RoboCup competition is an interesting environment for studying and evaluating reinforcement learning methods. A known difficulty in…

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 paper presents the new Deep Reinforcement Learning (DRL) library RL-X and its application to the RoboCup Soccer Simulation 3D League and classic DRL benchmarks. RL-X provides a flexible and easy-to-extend codebase with self-contained…

This paper addresses the design and implementation of complex Reinforcement Learning (RL) behaviors where multi-dimensional action spaces are involved, as well as the need to execute the behaviors in real-time using robotic platforms with…

We apply kernel-based methods to solve the difficult reinforcement learning problem of 3vs2 keepaway in RoboCup simulated soccer. Key challenges in keepaway are the high-dimensionality of the state space (rendering conventional…

In recent years, \emph{Reinforcement Learning} (RL) has made remarkable progress, achieving superhuman performance in a wide range of simulated environments. As research moves toward deploying RL in real-world applications, the field faces…

This article introduces an open framework, called VSSS-RL, for studying Reinforcement Learning (RL) and sim-to-real in robot soccer, focusing on the IEEE Very Small Size Soccer (VSSS) league. We propose a simulated environment in which…

The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, FC Portugal, developed a new codebase from scratch in Python…

Physically-realistic simulated environments are powerful platforms for enabling measurable, replicable and statistically-robust investigation of complex robotic systems. Such environments are epitomised by the RoboCup simulation leagues,…

We introduce controlgym, a library of thirty-six industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Robot decision-making in partially observable, real-time, dynamic, and multi-agent environments remains a difficult and unsolved challenge. Model-free reinforcement learning (RL) is a promising approach to learning decision-making in such…

Recent progress in the field of reinforcement learning has been accelerated by virtual learning environments such as video games, where novel algorithms and ideas can be quickly tested in a safe and reproducible manner. We introduce the…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

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…

Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…

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…

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…

RoboCup offers a set of benchmark problems for Artificial Intelligence in form of official world championships since 1997. The most tactical advanced and richest in terms of behavioural complexity of these is the 2D Soccer Simulation…

We present ContainerGym, a benchmark for reinforcement learning inspired by a real-world industrial resource allocation task. The proposed benchmark encodes a range of challenges commonly encountered in real-world sequential decision making…