相关论文: Chrono-Gymnasium: An Open-Source, Gymnasium-Compat…

Recommendation systems are often trained with a tremendous amount of data, and distributed training is the workhorse to shorten the training time. While the training throughput can be increased by simply adding more workers, it is also…

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…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

The demand for high-fidelity numerical simulations in soil-structure interaction analysis is on the rise, yet a standardized workflow to guide the creation of such simulations remains elusive. This paper aims to bridge this gap by…

Cross-silo Federated Learning (FL) enables multiple institutions to collaboratively train machine learning models while preserving data privacy. In such settings, clients repeatedly exchange model weights with a central server, making the…

Due to reduced manufacturing yields, traditional monolithic chips cannot keep up with the compute, memory, and communication demands of data-intensive applications, such as rapidly growing deep neural network (DNN) models. Chiplet-based…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

Reduced-order models (ROMs) have become an essential tool for reducing the computational cost of fluid flow simulations. While standard ROMs can efficiently approximate laminar flows, their accuracy often suffers in convection-dominated…

Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…

Recent advances in autonomous system simulation platforms have significantly enhanced the safe and scalable testing of driving policies. However, existing simulators do not yet fully meet the needs of future transportation…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Gear assembly is an essential but challenging task in industrial automation. This paper presents a novel two-stage approach for achieving high-precision and flexible gear assembly. The proposed approach integrates YOLO to coarsely localize…

This study presents GreenLight-Gym, a new, fast, open-source benchmark environment for developing reinforcement learning (RL) methods in greenhouse crop production control. Built on the state-of-the-art GreenLight model, it features a…

Improving system-level resiliency of networked microgrids is an important aspect with increased population of inverter-based resources (IBRs). This paper (1) presents resilient control design in presence of adversarial cyber-events, and…

Robots are still limited to controlled conditions, that the robot designer knows with enough details to endow the robot with the appropriate models or behaviors. Learning algorithms add some flexibility with the ability to discover the…

Volumetric rendering of Computed Tomography (CT) scans is crucial for visualizing complex 3D anatomical structures in medical imaging. Current high-fidelity approaches, especially neural rendering techniques, require time-consuming…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…

This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…