相关论文: RSL-RL: A Learning Library for Robotics Research

Reinforcement Learning (RL) has become a critical tool for optimization challenges within automation, leading to significant advancements in several areas. This review article examines the current landscape of RL within automation, with a…

Compared with model-based control and optimization methods, reinforcement learning (RL) provides a data-driven, learning-based framework to formulate and solve sequential decision-making problems. The RL framework has become promising due…

This paper introduces SCOPE-RL, a comprehensive open-source Python software designed for offline reinforcement learning (offline RL), off-policy evaluation (OPE), and selection (OPS). Unlike most existing libraries that focus solely on…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

The Large Language Models (LLM) are increasingly being deployed in robotics to generate robot control programs for specific user tasks, enabling embodied intelligence. Existing methods primarily focus on LLM training and prompt design that…

Advancing reinforcement learning (RL) requires tools that are flexible enough to easily prototype new methods while avoiding impractically slow experimental turnaround times. To match the first requirement, the most popular RL libraries…

Specification-guided reinforcement learning (RL) provides a principled framework for encoding complex, temporally extended tasks using formal specifications such as linear temporal logic (LTL). While recent methods have shown promising…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

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…

As a subfield of machine learning, reinforcement learning (RL) aims at empowering one's capabilities in behavioural decision making by using interaction experience with the world and an evaluative feedback. Unlike traditional supervised…

This innovative practice category paper presents an innovative framework for teaching Reinforcement Learning (RL) at the undergraduate level. Recognizing the challenges posed by the complex theoretical foundations of the subject and the…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Reinforcement learning (RL) algorithms, due to their reliance on external systems to learn from, require digital environments (e.g., simulators) with very simple interfaces, which in turn constrain significantly the implementation of such…

The growing integration of vision-language models (VLMs) in medical applications offers promising support for diagnostic reasoning. However, current medical VLMs often face limitations in generalization, transparency, and computational…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

Reinforcement learning (RL) has emerged as an effective paradigm for enhancing model reasoning. However, existing RL methods like GRPO typically rely on unstructured self-sampling to fit scalar rewards, often producing inefficient rollouts…

With the rapid evolution of large language models (LLM), reinforcement learning (RL) has emerged as a pivotal technique for code generation and optimization in various domains. This paper presents a systematic survey of the application of…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

The commissioning and operation of future large-scale scientific experiments will challenge current tuning and control methods. Reinforcement learning (RL) algorithms are a promising solution thanks to their capability of autonomously…