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

Compiling a quantum circuit for specific quantum hardware is a challenging task. Moreover, current quantum computers have severe hardware limitations. To make the most use of the limited resources, the compilation process should be…

RSL-RL is an open-source Reinforcement Learning library tailored to the specific needs of the robotics community. Unlike broad general-purpose frameworks, its design philosophy prioritizes a compact and easily modifiable codebase, allowing…

Hydrodynamical cosmological simulations are a powerful tool for accurately predicting the properties of the intergalactic medium (IGM) and for producing mock skies that can be compared against observational data. However, the need to…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Reinforcement Learning (RL) is a continuously growing field that has the potential to revolutionize many areas of artificial intelligence. However, despite its promise, RL research is often hindered by the lack of standardization in…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…

As large language models (LLMs) continue to scale and new GPUs are released even more frequently, there is an increasing demand for LLM post-training in heterogeneous environments to fully leverage underutilized mid-range or…

Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion…

We present MobileGym, a browser-hosted, lightweight, fully controllable environment for everyday mobile use, targeting interaction fidelity without replicating proprietary backends. It enables two capabilities previously out of reach for…

The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…

This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…

Enabling full robotic workloads with diverse behaviors on mobile systems with stringent resource and energy constraints remains a challenge. In recent years, attempts have been made to deploy single-accelerator-based computing platforms…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Driven by inherent uncertainty and the sim-to-real gap, robust reinforcement learning (RL) seeks to improve resilience against the complexity and variability in agent-environment sequential interactions. Despite the existence of a large…

Recently, reinforcement learning (RL) has been extensively studied and achieved promising results in a wide range of control tasks. Meanwhile, autonomous underwater vehicle (AUV) is an important tool for executing complex and challenging…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…