Xianru Tian

Behavior Cloning Assisted Reinforcement Learning for Cable-Driven Continuum Space Robots in Sparse Reward Environments

Deep reinforcement learning (DRL) has emerged as a powerful tool for controlling cable-driven continuum space robots (CDCSRs), offering a solution that bypasses complex system modeling. However, DRL based on dense reward functions (DRLDR) requires meticulous tuning of the reward structure, whereas D