相关论文: CRoSS: A Continual Robotic Simulation Suite for Sc…

Continual reinforcement learning aims to sequentially learn a variety of tasks, retaining the ability to perform previously encountered tasks while simultaneously developing new policies for novel tasks. However, current continual RL…

We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…

This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Robotic surgery is a rapidly developing field that can greatly benefit from the automation of surgical tasks. However, training techniques such as Reinforcement Learning (RL) require a high number of task repetitions, which are generally…

Reinforcement learning (RL) is rapidly reaching and surpassing human-level control capabilities. However, state-of-the-art RL algorithms often require timesteps and reaction times significantly faster than human capabilities, which is…

The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

The coordination of multiple autonomous agents in high-speed, competitive environments represents a significant engineering challenge. This paper presents CRUISE (Curriculum-Based Iterative Self-Play for Scalable Multi-Drone Racing), a…

We propose a novel framework for Deep Reinforcement Learning (DRL) in modular robotics using traditional robotic tools that extend state-of-the-art DRL implementations and provide an end-to-end approach which trains a robot directly from…

As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks, though effective on specific platforms, require extensive…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Reinforcement Learning (RL) is a machine learning framework for artificially intelligent systems to solve a variety of complex problems. Recent years has seen a surge of successes solving challenging games and smaller domain problems,…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…