相关论文: Deep reinforcement learning based navigation of a …

We develop a deep reinforcement learning method for training a jellyfish-like swimmer to effectively track a moving target in a two-dimensional flow. This swimmer is a flexible object equipped with a muscle model based on torsional springs.…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…

Deep reinforcement learning has recently been applied to a variety of robotics applications, but learning locomotion for robots with unconventional configurations is still limited. Prior work has shown that, despite the simple modeling of…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

As the length scales of the smallest technology continue to advance beyond the micron scale it becomes increasingly important to equip robotic components with the means for intelligent and autonomous decision making with limited…

Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…

This study investigates a method to guide and control fish schools using virtual fish trained with reinforcement learning. We utilize 2D virtual fish displayed on a screen to overcome technical challenges such as durability and movement…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

In recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance.…

Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…

For decades, people have been seeking for fishlike flapping motions that can realize underwater propulsion with low energy cost. Complexity of the nonstationary flow field around the flapping body makes this problem very difficult. In…

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

Motile microorganisms develop effective swimming gaits to adapt to complex biological environments. Translating this adaptability to smart microrobots presents significant challenges in motion planning and stroke design. In this work, we…

In marine operations underwater manipulators play a primordial role. However, due to uncertainties in the dynamic model and disturbances caused by the environment, low-level control methods require great capabilities to adapt to change.…

We introduce a reinforcement learning (RL) environment to design and benchmark control strategies aimed at reducing drag in turbulent fluid flows enclosed in a channel. The environment provides a framework for computationally-efficient,…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…