相关论文: Discovering Self-Protective Falling Policy for Hum…

In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…

Autonomous agents trained via reinforcement learning present numerous safety concerns: reward hacking, negative side effects, and unsafe exploration, among others. In the context of near-future autonomous agents, operating in environments…

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…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

Deep reinforcement learning (RL) policies are known to be vulnerable to adversarial perturbations to their observations, similar to adversarial examples for classifiers. However, an attacker is not usually able to directly modify another…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…

Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…

Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

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…

Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from…

Humanoid robots are expected to operate reliably over long horizons while executing versatile whole-body skills. Yet Reinforcement Learning (RL) motion policies typically lose stability under prolonged operation, sensor/actuator noise, and…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…