相关论文: High-Performance Reinforcement Learning on Spot: O…

We present a method that addresses the pain point of long lead-time required to deploy cell-level parameter optimisation policies to new wireless network sites. Given a sequence of action spaces represented by overlapping subsets of…

Training neural networks with reinforcement learning (RL) typically relies on backpropagation (BP), necessitating storage of activations from the forward pass for subsequent backward updates. Furthermore, backpropagating error signals…

Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and…

An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…

The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…

Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…

This article addresses the pump-scheduling optimization problem to enhance real-time control of real-world water distribution networks (WDNs). Our primary objectives are to adhere to physical operational constraints while reducing energy…

Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…

Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinforcement learning, together with the development of robust…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

In this paper, we investigate the problem of fast spectrum sharing in vehicle-to-everything communication. In order to improve the spectrum efficiency of the whole system, the spectrum of vehicle-to-infrastructure links is reused by…

Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and distal mechanics. Existing solutions typically rely on distal…

Resource-constrained robotic platforms are particularly useful for tasks that require low-cost hardware alternatives due to the risk of losing the robot, like in search-and-rescue applications, or the need for a large number of devices,…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

Existing quadrupedal locomotion learning paradigms usually rely on extensive domain randomization to alleviate the sim2real gap and enhance robustness. It trains policies with a wide range of environment parameters and sensor noises to…

We propose a distributionally robust approach to learning hyperparameters for first-order methods in convex optimization. Given a dataset of problem instances, we minimize a Wasserstein distributionally robust version of the performance…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…