相关论文: Deep Reinforcement Learning-based Obstacle Avoidan…

In this study, we analyze and compare the performance of state-of-the-art deep reinforcement learning algorithms for solving the supply chain inventory management problem. This complex sequential decision-making problem consists of…

We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evasive movements from arbitrary initial robot states using…

Deep reinforcement learning algorithms typically act on the same set of actions. However, this is not sufficient for a wide range of real-world applications where different subsets are available at each step. In this thesis, we consider the…

The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…

Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact placement with rapid execution, where…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

Deep reinforcement learning has achieved great success in laser-based collision avoidance work because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

Deployment in hazardous environments requires robots to understand the risks associated with their actions and movements to prevent accidents. Despite its importance, these risks are not explicitly modeled by currently deployed locomotion…