相关论文: Learning Agile Swimming: An End-to-End Approach wi…

Deep Reinforcement Learning (DRL) has become a popular method for solving control problems in power systems. Conventional DRL encourages the agent to explore various policies encoded in a neural network (NN) with the goal of maximizing the…

Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…

Natural intelligence processes experience as a continuous stream, sensing, acting, and learning moment-by-moment in real time. Streaming learning, the modus operandi of classic reinforcement learning (RL) algorithms like Q-learning and TD,…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

In distributed optimization, the practical problem-solving performance is essentially sensitive to algorithm selection, parameter setting, problem type and data pattern. Thus, it is often laborious to acquire a highly efficient method for a…

Fish in schooling formations navigate complex flow-fields replete with mechanical energy in the vortex wakes of their companions. Their schooling behaviour has been associated with evolutionary advantages including collective energy…

The intrinsic high dimension of fluid dynamics is an inherent challenge to control of aerodynamic flows, and this is further complicated by a flow's nonlinear response to strong disturbances. Deep reinforcement learning, which takes…

Model-free deep reinforcement learning (DRL) methods suffer from poor sample efficiency. To overcome this limitation, this work introduces an adaptive reduced-order-model (ROM)-based reinforcement learning framework for active flow control.…

We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a…

The escalating interests on underwater exploration/reconnaissance applications have motivated high-rate data transmission from underwater to airborne relaying platforms, especially under high-sea scenarios. Thanks to its broad bandwidth and…

Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…

This study presents a comparative analysis between single-objective and multi-objective reinforcement learning methods for training a robot to navigate effectively to an end goal while efficiently avoiding obstacles. Traditional…

In this survey, we systematically summarize the current literature on studies that apply reinforcement learning (RL) to the motion planning and control of autonomous vehicles. Many existing contributions can be attributed to the pipeline…

Bipedal locomotion skills are challenging to develop. Control strategies often use local linearization of the dynamics in conjunction with reduced-order abstractions to yield tractable solutions. In these model-based control strategies, the…

Effectively controlling systems governed by Partial Differential Equations (PDEs) is crucial in several fields of Applied Sciences and Engineering. These systems usually yield significant challenges to conventional control schemes due to…

The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…

Sustainability is becoming increasingly critical in the maritime transport, encompassing both environmental and social impacts, such as Greenhouse Gas (GHG) emissions and navigational safety. Traditional vessel navigation heavily relies on…