相关论文: MarineGym: A High-Performance Reinforcement Learni…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Predicting motions of vessels in extreme sea states represents one of the most challenging problems in naval hydrodynamics. It involves computing complex nonlinear wave-body interactions, hence taxing heavily computational resources. Here,…

The SWIMMER environment is a standard benchmark in reinforcement learning (RL). In particular, it is often used in papers comparing or combining RL methods with direct policy search methods such as genetic algorithms or evolution…

We propose a novel benchmark environment for Safe Reinforcement Learning focusing on aquatic navigation. Aquatic navigation is an extremely challenging task due to the non-stationary environment and the uncertainties of the robotic…

Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…

Reinforcement Learning (RL) trains agents to learn optimal behavior by maximizing reward signals from experience datasets. However, RL training often faces memory limitations, leading to execution latencies and prolonged training times. To…

We present WebGym, the largest-to-date open-source environment for training realistic visual web agents. Real websites are non-stationary and diverse, making artificial or small-scale task sets insufficient for robust policy learning.…

Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…

The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…

Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While…

Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to underwater vehicles, such as complex…

While reinforcement learning (RL) can empower autonomous agents by enabling self-improvement through interaction, its practical adoption remains challenging due to costly rollouts, limited task diversity, unreliable reward signals, and…

This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…

In recent years, \emph{Reinforcement Learning} (RL) has made remarkable progress, achieving superhuman performance in a wide range of simulated environments. As research moves toward deploying RL in real-world applications, the field faces…

Recently, there has been growing interest in autonomous shipping due to its potential to improve maritime efficiency and safety. The use of advanced technologies, such as artificial intelligence, can address the current navigational and…

Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…

Autonomous Underwater Vehicles (AUVs) require reliable six-degree-of-freedom (6-DOF) position control to operate effectively in complex and dynamic marine environments. Traditional controllers are effective under nominal conditions but…

Long-term, high-fidelity simulation of slow-changing physical systems, such as the ocean and climate, presents a fundamental challenge in scientific computing. Traditional autoregressive machine learning models often fail in these tasks as…

Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…

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…