In this article, we present AR3n (pronounced as Aaron), an assist-as-needed (AAN) controller that utilizes reinforcement learning (RL), to supply adaptive assistance during a robot-assisted handwriting rehabilitation task. Unlike previous AAN controllers, our method does not rely on patient-specific controller parameters or physical models. We propose the use of a virtual … [Read more...] about AR3n: A Reinforcement Learning-Based Assist-as-Needed Controller for Robotic Rehabilitation
Reinforcement Learning Agent
Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon
Autonomous ballooning allows for energy-efficient long-range missions but introduces significant challenges for planning and control algorithms, due to their single degree of actuation: vertical rate control through either buoyancy or vertical thrust. Lateral motion is typically due to the wind; thus, balloon flight is both nonholonomic and often stochastic. Finally, wind is … [Read more...] about Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon
