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

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Tactile information is important for robust performance in robotic tasks that involve physical interaction, such as object manipulation. However, with more data included in the reasoning and control process, modeling behavior becomes…

Active flow control (AFC) involves manipulating fluid flow over time to achieve a desired performance or efficiency. AFC, as a sequential optimisation task, can benefit from utilising Reinforcement Learning (RL) for dynamic optimisation. In…

Recent advances in deep reinforcement learning (RL) have demonstrated complex decision-making capabilities in simulation environments such as Arcade Learning Environment, MuJoCo, and ViZDoom. However, they are hardly extensible to more…

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…

Autonomous robotic systems, like autonomous vehicles and robotic search and rescue, require efficient on-device training for continuous adaptation of Deep Reinforcement Learning (DRL) models in dynamic environments. This research is…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Reinforcement Learning (RL) offers promising solutions for control tasks in industrial cyber-physical systems (ICPSs), yet its real-world adoption remains limited. This paper demonstrates how seemingly small but well-designed modifications…

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

We present a reinforcement learning-based solution to autonomously race on a miniature race car platform. We show that a policy that is trained purely in simulation using a relatively simple vehicle model, including model randomization, can…

In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

As a paradigm for sequential decision making in unknown environments, reinforcement learning (RL) has received a flurry of attention in recent years. However, the explosion of model complexity in emerging applications and the presence of…

Offline reinforcement learning (RL) aims at learning a good policy from a batch of collected data, without extra interactions with the environment during training. However, current offline RL benchmarks commonly have a large reality gap,…

The goal of RoboCup is to make research in the area of robotics measurable over time, and grow a community that works together to solve increasingly difficult challenges over the years. The most ambitious of these challenges it to be able…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Reinforcement learning (RL) is recognized as lacking generalization and robustness under environmental perturbations, which excessively restricts its application for real-world robotics. Prior work claimed that adding regularization to the…