相关论文: Feature Selection Based on Reinforcement Learning …

Magnetic adhesion tracked climbing robots are widely utilized in high-altitude inspection, welding, and cleaning tasks due to their ability to perform various operations against gravity on vertical or inclined walls. However, during…

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…

We present a reinforcement learning framework for quadrupedal wall-climbing locomotion that explicitly addresses uncertainty in magnetic foot adhesion. A physics-based adhesion model of a quadrupedal magnetic climbing robot is incorporated…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

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…

Industry is rapidly moving towards fully autonomous and interconnected systems that can detect and adapt to changing conditions, including machine hardware faults. Traditional methods for adding hardware fault tolerance to machines involve…

Proximal Policy Optimization (PPO) is a widely used reinforcement learning algorithm that heavily relies on accurate advantage estimates for stable and efficient training. However, raw advantage signals can exhibit significant variance,…

Autonomous driving has attracted great interest due to its potential capability in full-unsupervised driving. Model-based and learning-based methods are widely used in autonomous driving. Model-based methods rely on pre-defined models of…

In this paper, we investigate dynamic feature selection within multivariate time-series scenario, a common occurrence in clinical prediction monitoring where each feature corresponds to a bio-test result. Many existing feature selection…

Regulating the importance ratio is critical for the training stability of Group Relative Policy Optimization (GRPO) based frameworks. However, prevailing ratio control methods, such as hard clipping, suffer from non-differentiable…

Proximal Policy Optimization (PPO) is a highly popular model-free reinforcement learning (RL) approach. However, we observe that in a continuous action space, PPO can prematurely shrink the exploration variance, which leads to slow progress…

With the decreasing cost of data collection, the space of variables or features that can be used to characterize a particular predictor of interest continues to grow exponentially. Therefore, identifying the most characterizing features…

Deep reinforcement learning (DRL) is one of the promising approaches for introducing robots into complicated environments. The recent remarkable progress of DRL stands on regularization of policy, which allows the policy to improve stably…

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…

Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control methods often require carefully designed reference trajectories,…

Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…

Proximal Policy Optimization (PPO) has been broadly applied to robotics learning, showcasing stable training performance. However, the fixed clipping bound setting may limit the performance of PPO. Specifically, there is no theoretical…

Proximal Policy Optimization (PPO) is among the most widely used algorithms in reinforcement learning, which achieves state-of-the-art performance in many challenging problems. The keys to its success are the reliable policy updates through…

Safe Reinforcement Learning (Safe RL) aims to train an RL agent to maximize its performance in real-world environments while adhering to safety constraints, as exceeding safety violation limits can result in severe consequences. In this…

High-precision surface defect detection in manufacturing is essential for ensuring quality control. Laser triangulation profilometric sensors are key to this process, providing detailed and accurate surface measurements over a line. To…