相关论文: Sim4EndoR: A Reinforcement Learning Centered Simul…

In the landscape of Recommender System (RS) applications, reinforcement learning (RL) has recently emerged as a powerful tool, primarily due to its proficiency in optimizing long-term rewards. Nevertheless, it suffers from instability in…

Robot-led physical therapy (PT) offers a promising avenue to enhance the care provided by clinical exercise specialists (ES) and physical and occupational therapists to improve patients' adherence to prescribed exercises outside of a…

Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, ensuring patient safety and compliant human-robot interaction (HRI) during probe contact poses a significant challenge. Most existing…

Image-based modeling is essential for understanding cardiovascular hemodynamics and advancing the diagnosis and treatment of cardiovascular diseases. Constructing patient-specific vascular models remains labor-intensive, error-prone, and…

Electrocardiogram (ECG)-based models have achieved strong performance in diagnostic tasks, yet they remain limited in modeling how cardiac dynamics evolve under external interventions. In particular, existing approaches focus primarily on…

Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Coronary angioplasty with stent implantation is the most frequently used interventional treatment for coronary artery disease. However, reocclusion within the stent, referred to as in-stent restenosis, occurs in up to 10% of lesions. It is…

Deep reinforcement learning has the potential to address various scientific problems. In this paper, we implement an optics simulation environment for reinforcement learning based controllers. The environment captures the essence of…

Electric motors are used in many applications and their efficiency is strongly dependent on their control. Among others, PI approaches or model predictive control methods are well-known in the scientific literature and industrial practice.…

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial…

Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break…

Surgical robotics is a rapidly evolving field that is transforming the landscape of surgeries. Surgical robots have been shown to enhance precision, minimize invasiveness, and alleviate surgeon fatigue. One promising area of research in…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

Simulations of Cardiac Electrophysiology are gaining momentum beyond basic mechanistic studies, as an approach for supporting clinical decision making. The potential for in silico technologies observed from the research community is…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

In this paper, a novel racing environment for OpenAI Gym is introduced. This environment operates with continuous action- and state-spaces and requires agents to learn to control the acceleration and steering of a car while navigating a…