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cs.RO2024
Locomotion Generation for a Rat Robot based on Environmental Changes via Reinforcement Learning
Xinhui Shan, Yuhong Huang, Zhenshan Bing +4
This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimen…
cs.RO2024
Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments
Yu Zhang, Guangyao Tian, Long Wen +5
This paper proposes a LiDAR-based goal-seeking and exploration framework, addressing the efficiency of online obstacle avoidance in unstructured environments populated with static…
cs.RO2023
Safety Guaranteed Manipulation Based on Reinforcement Learning Planner and Model Predictive Control Actor
Zhenshan Bing, Aleksandr Mavrichev, Sicong Shen +4
Deep reinforcement learning (RL) has been endowed with high expectations in tackling challenging manipulation tasks in an autonomous and self-directed fashion. Despite the signific…