相关论文: Mastering Multi-Drone Volleyball through Hierarchi…

Dexterous manipulation tasks usually have multiple objectives, and the priorities of these objectives may vary at different phases of a manipulation task. Varying priority makes a robot hardly or even failed to learn an optimal policy with…

Recent technological progress in the development of Unmanned Aerial Vehicles (UAVs) together with decreasing acquisition costs make the application of drone fleets attractive for a wide variety of tasks. In agriculture, disaster management,…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, whereas independent control policies do not…

Long-term planning poses a major difficulty to many reinforcement learning algorithms. This problem becomes even more pronounced in dynamic visual environments. In this work we propose Hierarchical Planning and Reinforcement Learning…

Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…

This paper presents a robust reinforcement learning algorithm called robust deterministic policy gradient (RDPG), which reformulates the H-infinity control problem as a two-player zero-sum dynamic game between a user and an adversary. The…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…

This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…

The control and guidance of multi-robots (swarm) is a non-trivial problem due to the complexity inherent in the coupled interaction among the group. Whether the swarm is cooperative or non-cooperative, lessons can be learnt from sheepdogs…

Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In this work, we propose HeRD, a hierarchical…

In multi-agent reinforcement learning, the cooperative learning behavior of agents is very important. In the field of heterogeneous multi-agent reinforcement learning, cooperative behavior among different types of agents in a group is…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

As reconfigurable intelligent surfaces (RIS) emerge as a pivotal technology in the upcoming sixth-generation (6G) networks, their deployment within practical multiple operator (OP) networks presents significant challenges, including the…

Controlling high-dimensional stochastic systems, critical in robotics, autonomous vehicles, and hyperchaotic systems, faces the curse of dimensionality, lacks temporal abstraction, and often fails to ensure stochastic stability. To overcome…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…