Related papers: Reinforced Grounded Action Transformation for Sim-…
Robot control policies learned in simulation do not often transfer well to the real world. Many existing solutions to this sim-to-real problem, such as the Grounded Action Transformation (GAT) algorithm, seek to correct for or ground these…
Traffic signal control (TSC) is a complex and important task that affects the daily lives of millions of people. Reinforcement Learning (RL) has shown promising results in optimizing traffic signal control, but current RL-based TSC methods…
Reinforcement learning (RL) is playing an increasingly important role in fields such as robotic control and autonomous driving. However, the gap between simulation and the real environment remains a major obstacle to the practical…
Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…
Traffic Signal Control (TSC) is essential for managing urban traffic flow and reducing congestion. Reinforcement Learning (RL) offers an adaptive method for TSC by responding to dynamic traffic patterns, with multi-agent RL (MARL) gaining…
In recent years, reinforcement learning (RL) has shown remarkable success in robotics when a fast and accurate simulator is available for a given task. When using RL and simulation, more simulator realism is generally beneficial but becomes…
Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…
Deep Reinforcement Learning (RL) has been explored and verified to be effective in solving decision-making tasks in various domains, such as robotics, transportation, recommender systems, etc. It learns from the interaction with…
Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…
The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable…
Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…
Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…
This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…
Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…
Deep reinforcement learning has proven to be successful for learning tasks in simulated environments, but applying same techniques for robots in real-world domain is more challenging, as they require hours of training. To address this,…
Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…
Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…
Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…
Simulation-to-reality reinforcement learning (RL) faces the critical challenge of reconciling discrepancies between simulated and real-world dynamics, which can severely degrade agent performance. A promising approach involves learning…
Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop the SPOT framework, which explores within action safety zones,…