相关论文: STRIDE: Automating Reward Design, Deep Reinforceme…

Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existing approaches often struggle with…

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…

We introduce STRIVE (SpatioTemporal Reinforcement with Importance-aware Variant Exploration), a structured reinforcement learning framework for video question answering. While group-based policy optimization methods have shown promise in…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

Preference-based Reinforcement Learning (PbRL) circumvents the need for reward engineering by harnessing human preferences as the reward signal. However, current PbRL methods excessively depend on high-quality feedback from domain experts,…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Reinforcement Learning (RL) has emerged as a mainstream paradigm for training Mobile GUI Agents, yet it struggles with the temporal credit assignment problem inherent in long-horizon tasks. A primary challenge lies in the trade-off between…

Recently, humanoid robots have made significant advances in their ability to perform challenging tasks due to the deployment of Reinforcement Learning (RL), however, the inherent complexity of humanoid robots, including the difficulty of…

Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…

In computational engineering, enhancing the simulation speed and efficiency is a perpetual goal. To fully take advantage of neural network techniques and hardware, we present the SLiding-window Initially-truncated Dynamic-response Estimator…

With the growing popularity of deep reinforcement learning (DRL), human-in-the-loop (HITL) approach has the potential to revolutionize the way we approach decision-making problems and create new opportunities for human-AI collaboration. In…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

In today's rapidly evolving military landscape, advancing artificial intelligence (AI) in support of wargaming becomes essential. Despite reinforcement learning (RL) showing promise for developing intelligent agents, conventional RL faces…

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work…

Empathetic dialogue requires not only recognizing a user's emotional state but also making strategy-aware, context-sensitive decisions throughout response generation. However, the lack of a comprehensive empathy strategy framework, explicit…

Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…

Reward functions are central in reinforcement learning (RL), guiding agents towards optimal decision-making. The complexity of RL tasks requires meticulously designed reward functions that effectively drive learning while avoiding…