相关论文: FF-SRL: High Performance GPU-Based Surgical Simula…

Learning from Demonstration (LfD) is a well-established problem in Reinforcement Learning (RL), which aims to facilitate rapid RL by leveraging expert demonstrations to pre-train the RL agent. However, the limited availability of expert…

Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which must be conducted in critical proximity to vital structures with a limited view of anatomy. Robotic surgery systems have been proposed to improve…

Developing decision-making algorithms for highly automated driving systems remains challenging, since these systems have to operate safely in an open and complex environments. Reinforcement Learning (RL) approaches can learn comprehensive…

Deep reinforcement learning (RL) has made groundbreaking advancements in robotics, data center management and other applications. Unfortunately, system-level bottlenecks in RL workloads are poorly understood; we observe fundamental…

Sim-to-real transfer of locomotion policies often leads to performance degradation due to the inevitable sim-to-real gap. Naively fine-tuning these policies directly on hardware is problematic, as it poses risks of mechanical failure and…

Self-supervision has the potential to transform reinforcement learning (RL), paralleling the breakthroughs it has enabled in other areas of machine learning. While self-supervised learning in other domains aims to find patterns in a fixed…

Deep reinforcement learning (DRL) has shown huge potentials in building financial market simulators recently. However, due to the highly complex and dynamic nature of real-world markets, raw historical financial data often involve large…

Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…

Surgical automation holds immense potential to improve the outcome and accessibility of surgery. Recent studies use reinforcement learning to learn policies that automate different surgical tasks. However, these policies are developed…

The focus of this work is to enumerate the various approaches and algorithms that center around application of reinforcement learning in robotic ma- ]]nipulation tasks. Earlier methods utilized specialized policy representations and human…

Reinforcement learning (RL) is an innovative approach to financial decision making, offering specialized solutions to complex investment problems where traditional methods fail. This review analyzes 167 articles from 2017--2025, focusing on…

Deep learning has shown great promise for CT image reconstruction, in particular to enable low dose imaging and integrated diagnostics. These merits, however, stand at great odds with the low availability of diverse image data which are…

Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks and lack features critical for scaling generalizable robotics…

Reinforcement Learning (RL) has emerged as a powerful paradigm for sequential decision-making and has attracted growing interest across various domains, particularly following the advent of Deep Reinforcement Learning (DRL) in 2015.…

Deep Learning (DL) algorithms are the central focus of modern machine learning systems. As data volumes keep growing, it has become customary to train large neural networks with hundreds of millions of parameters to maintain enough capacity…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems.…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

This study proposes a safe and sample-efficient reinforcement learning (RL) framework to address two major challenges in developing applicable RL algorithms: satisfying safety constraints and efficiently learning with limited samples. To…

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where…