相关论文: Digital Twin Supervised Reinforcement Learning Fra…

Digital twins promise to revolutionize engineering by offering new avenues for optimization, control, and predictive maintenance. We propose a novel framework for simultaneously training the digital twin of an engineering system and an…

The application of reinforcement learning algorithms onto real life problems always bears the challenge of filtering the environmental state out of raw sensor readings. While most approaches use heuristics, biology suggests that there must…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO), as the widely employed policy based reinforcement learning (RL) methods, are prone to converge to a sub-optimal solution as they limit the policy representation…

Deep Reinforcement Learning (Deep-RL) techniques for motion control have been continuously used to deal with decision-making problems for a wide variety of robots. Previous works showed that Deep-RL can be applied to perform mapless…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…

Reinforcement learning (RL) has become a cornerstone for fine-tuning Large Language Models (LLMs), with Proximal Policy Optimization (PPO) serving as the de facto standard algorithm. Despite its ubiquity, we argue that the core ratio…

Training robots to navigate diverse environments is a challenging problem as it involves the confluence of several different perception tasks such as mapping and localization, followed by optimal path-planning and control. Recently released…

In this letter, we investigate the discrete phase shift design of the intelligent reflecting surface (IRS) in a time division duplexing (TDD) multi-user multiple input multiple output (MIMO) system.We modify the design of deep reinforcement…

Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…

This research gauges the ability of deep reinforcement learning (DRL) techniques to assist the control of conjugate heat transfer systems governed by the coupled Navier--Stokes and heat equations. It uses a novel, "degenerate" version of…

This article proposes a proximal policy optimization (PPO)-based reinforcement learning (RL) approach for DC-DC boost converter control that is compared with traditional control methods. The performance of the PPO algorithm is evaluated…

In this paper, we investigate a novel digital network twin (DNT) assisted deep learning (DL) model training framework. In particular, we consider a physical network where a base station (BS) uses several antennas to serve multiple mobile…

Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

Fish fin rays constitute a sophisticated control system for ray-finned fish, facilitating versatile locomotion within complex fluid environments. Despite extensive research on the kinematics and hydrodynamics of fish locomotion, the…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…