相关论文: Reinforcement Learning for Ballbot Navigation in U…
We address the challenge of enhancing navigation autonomy for planetary space rovers using reinforcement learning (RL). The ambition of future space missions necessitates advanced autonomous navigation capabilities for rovers to meet…
Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…
Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…
Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…
We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…
Although Reinforcement Learning (RL) algorithms have found tremendous success in simulated domains, they often cannot directly be applied to physical systems, especially in cases where there are hard constraints to satisfy (e.g. on safety…
Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…
Reinforcement learning (RL) is a flexible and efficient method for programming micro-robots in complex environments. Here we investigate whether reinforcement learning can provide insights into biological systems when trained to perform…
In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
A terrestrial robot that can maneuver rough terrain and scout places is very useful in mapping out unknown areas. It can also be used explore dangerous areas in place of humans. A terrestrial robot modeled after a scorpion will be able to…
Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…
Reinforcement learning (RL) is playing an increasingly important role in fields such as robotic control and autonomous driving. However, the gap between simulation and the real environment remains a major obstacle to the practical…
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.…
Legged robots need to be capable of walking on diverse terrain conditions. In this paper, we present a novel reinforcement learning framework for learning locomotion on non-rigid dynamic terrains. Specifically, our framework can generate…
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…
Reinforcement learning (RL) algorithms have become indispensable tools in artificial intelligence, empowering agents to acquire optimal decision-making policies through interactions with their environment and feedback mechanisms. This study…
Despite the growing interest in robot control utilizing the computation of biological neurons, context-dependent behavior by neuron-connected robots remains a challenge. Context-dependent behavior here is defined as behavior that is not the…