相关论文: Reinforcement Learning Position Control of a Quadr…

Over the years, complex control approaches have been developed to control the motion of a bicycle. Reinforcement Learning (RL), a branch of machine learning, promises easy deployment of so-called agents. Deployed agents are increasingly…

This work is an exploratory research concerned with determining in what way reinforcement learning can be used to predict optimal PID parameters for a robot designed for apple harvest. To study this, an algorithm called Advantage Actor…

The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…

The subject of this paper is reinforcement learning. Policies are considered here that produce actions based on states and random elements autocorrelated in subsequent time instants. Consequently, an agent learns from experiments that are…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…

Visual reinforcement learning is appealing for robotics but expensive -- off-policy methods are sample-efficient yet slow; on-policy methods parallelize well but waste samples. Recent work has shown that off-policy methods can train faster…

Reinforcement learning (RL) is increasingly applied to real-world problems involving complex and structured decisions, such as routing, scheduling, and assortment planning. These settings challenge standard RL algorithms, which struggle to…

In this work, we propose a Model Predictive Control (MPC)-based Reinforcement Learning (RL) method for Autonomous Surface Vehicles (ASVs). The objective is to find an optimal policy that minimizes the closed-loop performance of a simplified…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Designing effective low-level robot controllers often entail platform-specific implementations that require manual heuristic parameter tuning, significant system knowledge, or long design times. With the rising number of robotic and…

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…

We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…

This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifically, we tackle the challenging task of purely tactile,…

Deep Reinforcement Learning (DRL) for quadrotor flight control typically relies on Domain Randomization (DR) for sim-to-real transfer, resulting in overly conservative policies that struggle with dynamic disturbances. To overcome this, we…

The paper explores the application of a continuous action space soft actor-critic (SAC) reinforcement learning model to the area of automated market-making. The reinforcement learning agent receives a simulated flow of client trades, thus…

Reinforcement learning (RL) has shown remarkable success in solving complex decision-making and control tasks. However, many model-free RL algorithms experience performance degradation due to inaccurate value estimation, particularly the…

This paper explores the impact of dynamic entropy tuning in Reinforcement Learning (RL) algorithms that train a stochastic policy. Its performance is compared against algorithms that train a deterministic one. Stochastic policies optimize a…

Safe reinforcement learning (RL) typically asks $\textit{what}$ an agent should do. We ask $\textit{when}$ it needs to act, and show that a single policy can jointly learn control inputs and communication-efficient timing decisions under a…

Conventional feedback control methods can solve various types of robot control problems very efficiently by capturing the structure with explicit models, such as rigid body equations of motion. However, many control problems in modern…