相关论文: HierKick: Hierarchical Reinforcement Learning for …

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

Cooperative air-ground delivery has emerged as a promising logistics paradigm by leveraging the complementary strengths of UAVs and ground carriers. However, effective dispatching in such heterogeneous systems faces two critical challenges:…

Learning a control policy for a multi-phase, long-horizon task, such as basketball maneuvers, remains challenging for reinforcement learning approaches due to the need for seamless policy composition and transitions between skills. A…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Deep reinforcement learning (RL) based controllers for legged robots have demonstrated impressive robustness for walking in different environments for several robot platforms. To enable the application of RL policies for humanoid robots in…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not decide which skill to reuse when scenes change. Classical…

Bipedal robots demonstrate potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual pipelines, which are fragile in…

Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under strict timing--capabilities that remain difficult for end-to-end control policies. We propose a reinforcement learning (RL) framework…

Hierarchical reinforcement learning (HRL) addresses complex long-horizon tasks by skillfully decomposing them into subgoals. Therefore, the effectiveness of HRL is greatly influenced by subgoal reachability. Typical HRL methods only…

Adequate strategizing of agents behaviors is essential to solving cooperative MARL problems. One intuitively beneficial yet uncommon method in this domain is predicting agents future behaviors and planning accordingly. Leveraging this…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training…

Recent advancements in legged robot locomotion have facilitated traversal over increasingly complex terrains. Despite this progress, many existing approaches rely on end-to-end deep reinforcement learning (DRL), which poses limitations in…

Reinforcement learning (RL) techniques have been developed to optimize industrial cooling systems, offering substantial energy savings compared to traditional heuristic policies. A major challenge in industrial control involves learning…

Hierarchical reinforcement learning (HRL) proposes to solve difficult tasks by performing decision-making and control at successively higher levels of temporal abstraction. However, off-policy HRL often suffers from the problem of a…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

Hierarchical Reinforcement Learning (HRL) frameworks like Option-Critic (OC) and Multi-updates Option Critic (MOC) have introduced significant advancements in learning reusable options. However, these methods underperform in multi-goal…

The problem of sparse rewards is one of the hardest challenges in contemporary reinforcement learning. Hierarchical reinforcement learning (HRL) tackles this problem by using a set of temporally-extended actions, or options, each of which…

Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…