相关论文: Vision-based Goal-Reaching Control for Mobile Robo…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…

Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks due to their ability to reason about long-term, cumulative reward using trial and error. However, during RL training, applying…

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…

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…

In the last decades, visual target tracking has been one of the primary research interests of the Robotics research community. The recent advances in Deep Learning technologies have made the exploitation of visual tracking approaches…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

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…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…