相关论文: DR-MPC: Deep Residual Model Predictive Control for…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

Safety is a critical concern in motion planning for autonomous vehicles. Modern autonomous vehicles rely on neural network-based perception, but making control decisions based on these inference results poses significant safety risks due to…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…

The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…

Advanced model-based controllers are well established in process industries. However, such controllers require regular maintenance to maintain acceptable performance. It is a common practice to monitor controller performance continuously…

Deep reinforcement learning (DRL) has a great potential for solving complex decision-making problems in autonomous driving, especially in mixed-traffic scenarios where autonomous vehicles and human-driven vehicles (HDVs) drive together.…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…

In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as motion washout,…

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative…

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the robot, DRL training is an active exploration process typically…

Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MPC) is a popular control technique which is able to deal with…

Advanced vehicle control is a fundamental building block in the development of autonomous driving systems. Reinforcement learning (RL) promises to achieve control performance superior to classical approaches while keeping computational…