相关论文: MAER-Nav: Bidirectional Motion Learning Through Mi…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…

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…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

This paper presents a Predictive Maneuver Planning with Deep Reinforcement Learning (PMP-DRL) model for maneuver planning. Traditional rule-based maneuver planning approaches often have to improve their abilities to handle the variabilities…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…

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…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…

In this work we present Deep Reinforcement Learning (DRL) training of directional locomotion for low-cost quadrupedal robots in the real world. In particular, we exploit randomization of heading that the robot must follow to foster…

Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing…

Deep reinforcement learning (DRL) has had success across various domains, but applying it to environments with constraints remains challenging due to poor sample efficiency and slow convergence. Recent literature explored incorporating…

Navigation of mobile robots within crowded environments is an essential task in various use cases, such as delivery, health care, or logistics. Deep Reinforcement Learning (DRL) emerged as an alternative method to replace overly…

Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by…

Deep reinforcement learning (DRL) is a promising outer-loop intelligence paradigm which can deploy problem solving strategies for complex tasks. Consequently, DRL has been utilized for several scientific applications, specifically in cases…

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…