相关论文: Evolutionary Continuous Adaptive RL-Powered Co-Des…

Despite the numerous applications and success of deep reinforcement learning in many control tasks, it still suffers from many crucial problems and limitations, including temporal credit assignment with sparse reward, absence of effective…

We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as…

Evolutionary Algorithms (EAs) and Deep Reinforcement Learning (DRL) have recently been integrated to take the advantage of the both methods for better exploration and exploitation.The evolutionary part in these hybrid methods maintains a…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…

Evolutionary reinforcement learning (ERL) algorithms recently raise attention in tackling complex reinforcement learning (RL) problems due to high parallelism, while they are prone to insufficient exploration or model collapse without…

Deep neural networks, despite their remarkable success, remain fundamentally limited in their ability to perform Continual Learning (CL). While most current methods aim to enhance the capabilities of a single model, Inspired by the…

We present an open-source Python framework for NeuroEvolution Optimization with Reinforcement Learning (NEORL) developed at the Massachusetts Institute of Technology. NEORL offers a global optimization interface of state-of-the-art…

Evolution and learning have historically been interrelated topics, and their interplay is attracting increased interest lately. The emerging new factor in this trend is morphological evolution, the evolution of physical forms within…

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…

This paper introduces an innovative approach to boost the efficiency and scalability of Evolutionary Rule-based machine Learning (ERL), a key technique in explainable AI. While traditional ERL systems can distribute processes across…

In recent years, Deep Reinforcement Learning (DRL) has emerged as a promising method for robot collision avoidance. However, such DRL models often come with limitations, such as adapting effectively to structured environments containing…

Reinforcement Learning (RL) is an effective method for robots to learn tasks. However, in typical RL, end-users have little to no control over how the robot does the task after the robot has been deployed. To address this, we introduce the…

The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this paper, we present a novel approach for the design of…

Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…

This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…

Visual loco-manipulation of arbitrary objects in the wild with humanoid robots requires accurate end-effector (EE) control and a generalizable understanding of the scene via visual inputs (e.g., RGB-D images). Existing approaches are based…

In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of…