mlsanityData to 14 Oct 2026

Towards Vision-Based Deep Reinforcement Learning for Robotic Motion Control

arXiv 1511.03791 ↗First posted 12 Nov 2015cs.LG cs.CV cs.ROcited by 33

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Abstract (arXiv)

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of configuration is shown for the first time. We build upon the success of recent deep reinforcement learning and develop a system for learning target reaching with a three-joint robot manipulator using external visual observation. A Deep Q Network (DQN) was demonstrated to perform target reaching after training in simulation. Transferring the network to real hardware and real observation in a naive approach failed, but experiments show that the network works when replacing camera images with synthetic images.

Key facts. Cited by 33 papers in the map (data through 14 Oct 2026). First posted on arXiv 12 Nov 2015.

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Citing papers per year: 2021: 11; 2022: 6; 2023: 6; 2024: 3; 2025: 3; 2026: 4.

33 papers.

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  1. 2023UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learningcited by 107
  2. 2021Memory-based Deep Reinforcement Learning for POMDPscited by 54
  3. 2023PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observationscited by 42
  4. 2023The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learningcited by 26
  5. 2021Hybrid analysis and modeling, eclecticism, and multifidelity computing toward digital twin revolutioncited by 14
  6. 2021A Vision Based Deep Reinforcement Learning Algorithm for UAV Obstacle Avoidancecited by 10
  7. 2026The Five Ws of Multi-Agent Communication: Who Talks to Whom, When, What, and Why -- A Survey from MARL to Emergent Language and LLMscited by 10
  8. 2024Parametric PDE Control with Deep Reinforcement Learning and Differentiable L0-Sparse Polynomial Policiescited by 7
  9. 2022Adversarial Neon Beam: A Light-based Physical Attack to DNNscited by 6
  10. 2021FIXAR: A Fixed-Point Deep Reinforcement Learning Platform with Quantization-Aware Training and Adaptive Parallelismcited by 5
  11. 2023Sim2Rec: A Simulator-based Decision-making Approach to Optimize Real-World Long-term User Engagement in Sequential Recommender Systemscited by 5
  12. 2023A Survey on Service Route and Time Prediction in Instant Delivery: Taxonomy, Progress, and Prospectscited by 5
21 more
  1. 2021Bias-reduced Multi-step Hindsight Experience Replay for Efficient Multi-goal Reinforcement Learningcited by 4
  2. 2022Multi-Agent Broad Reinforcement Learning for Intelligent Traffic Light Controlcited by 3
  3. 2025HypeRL: Hypernetwork-Based Reinforcement Learning for Control of Parametrized Dynamical Systemscited by 3
  4. 2025Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learningcited by 3
  5. 2021Affordance-based Reinforcement Learning for Urban Drivingcited by 2
  6. 2021Defenses Against Multi-Sticker Physical Domain Attacks on Classifierscited by 2
  7. 2022End-to-end Reinforcement Learning of Robotic Manipulation with Robust Keypoints Representationcited by 2
  8. 2022Graph Neural Networks for Relational Inductive Bias in Vision-based Deep Reinforcement Learning of Robot Controlcited by 2
  9. 2023Machine Learning Meets Advanced Robotic Manipulationcited by 2
  10. 2021DRL: Deep Reinforcement Learning for Intelligent Robot Control -- Concept, Literature, and Futurecited by 1
  11. 2021Zero-Shot Uncertainty-Aware Deployment of Simulation Trained Policies on Real-World Robotscited by 1
  12. 2022An Optical Control Environment for Benchmarking Reinforcement Learning Algorithmscited by 1
  13. 2024Imitation Learning with Additional Constraints on Motion Style using Parametric Biascited by 1
  14. 2021A Pushing-Grasping Collaborative Method Based on Deep Q-Network Algorithm in Dual Perspectivescited by 0
  15. 2021Towards a Sample Efficient Reinforcement Learning Pipeline for Vision Based Roboticscited by 0
  16. 2022Machine Beats Machine: Machine Learning Models to Defend Against Adversarial Attackscited by 0
  17. 2024GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learningcited by 0
  18. 2025From Motion to Behavior: Hierarchical Modeling of Humanoid Generative Behavior Controlcited by 0
  19. 2026Physics-enhanced reinforcement learning for real-time optimal control of dynamical systemscited by 0
  20. 2026HypEMBER: Hypernetwork-based Ensemble for Robust Policy Learning of Parametrized Dynamical Systemscited by 0
  21. 2026Iterative Grasp Pose Refinement: A Deep Reinforcement Learning Approach for 2D Visioncited by 0