相关论文: Autonomous loading of ore piles with Load-Haul-Dum…
Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…
Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
This paper proposes a novel approach based on deep reinforcement learning (DRL) for the 2D+1 packing problem with spatial constraints. This problem is an extension of the traditional 2D packing problem, incorporating an additional…
Having smart and autonomous earthmoving in mind, we explore high-performance wheel loading in a simulated environment. This paper introduces a wheel loader simulator that combines contacting 3D multibody dynamics with a hybrid…
Developing and testing automated driving models in the real world might be challenging and even dangerous, while simulation can help with this, especially for challenging maneuvers. Deep reinforcement learning (DRL) has the potential to…
This study explores the application of deep reinforcement learning (RL) to design an airfoil pitch controller capable of minimizing lift variations in randomly disturbed flows. The controller, treated as an agent in a partially observable…
This work introduces a toolchain for applying Reinforcement Learning (RL), specifically the Deep Deterministic Policy Gradient (DDPG) algorithm, in safety-critical real-world environments. As an exemplary application, transient load control…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…
We investigate the feasibility of deploying Deep-Q based deep reinforcement learning agents to job-shop scheduling problems in the context of modular production facilities, using discrete event simulations for the environment. These…
Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…
Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free trajectory planning with a free-swinging end-effector tool.…
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…
Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…
Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…
Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…