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

Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by…

Designing effective task sequences is crucial for curriculum reinforcement learning (CRL), where agents must gradually acquire skills by training on intermediate tasks. A key challenge in CRL is to identify tasks that promote exploration,…

Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introduces a reinforcement learning (RL)-based framework for…

Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS). A key challenge to its deployment in real-life operations is the presence of spuriously unsafe DRL policies. Unexplored states…

As reinforcement learning (RL) has achieved great success and been even adopted in safety-critical domains such as autonomous vehicles, a range of empirical studies have been conducted to improve its robustness against adversarial attacks.…

Continual Reinforcement Learning (CRL) aims to develop lifelong learning agents to continuously acquire knowledge across diverse tasks while mitigating catastrophic forgetting. This requires efficiently managing the stability-plasticity…

In inaccessible environments with uncertain task demands, robots often rely on general-purpose tools that lack predefined usage strategies. These tools are not tailored for particular operations, making their longevity highly sensitive to…

RSL-RL is an open-source Reinforcement Learning library tailored to the specific needs of the robotics community. Unlike broad general-purpose frameworks, its design philosophy prioritizes a compact and easily modifiable codebase, allowing…

Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…

A highly desirable property of a reinforcement learning (RL) agent -- and a major difficulty for deep RL approaches -- is the ability to generalize policies learned on a few tasks over a high-dimensional observation space to similar tasks…

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…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields to achieve reliable control in diverse tasks. In order to…

In curriculum reinforcement learning (CRL), an agent incrementally accumulates knowledge over a sequence of tasks (i.e., a curriculum), and the learning process is aimed at using the accumulated knowledge to finally solve a challenging…

Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…

In the context of surgery, robots can provide substantial assistance by performing small, repetitive tasks such as suturing, needle exchange, and tissue retraction, thereby enabling surgeons to concentrate on more complex aspects of the…

Continual reinforcement learning (CRL) refers to a naturalistic setting where an agent needs to endlessly evolve, by trial and error, to solve multiple tasks that are presented sequentially. One of the largest obstacles to CRL is that the…

The ever-growing complexity of reinforcement learning (RL) tasks demands a distributed system to efficiently generate and process a massive amount of data. However, existing open-source libraries suffer from various limitations, which…