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Reinforcement learning (RL) is not yet competitive for many cyber-physical systems, such as robotics, process automation, and power systems, as training on a system with physical components cannot be accelerated, and simulation models do…

Sim2Real aims at training policies in high-fidelity simulation environments and effectively transferring them to the real world. Despite the developments of accurate simulators and Sim2Real RL approaches, the policies trained purely in…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

We focus on the problem of reliably training Reinforcement Learning (RL) models (agents) for stable low-level control in embedded systems and test our methods on a high-performance, custom-built quadrotor platform. A common but often…

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…

Real world data, especially in the domain of robotics, is notoriously costly to collect. One way to circumvent this can be to leverage the power of simulation to produce large amounts of labelled data. However, training models on simulated…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task orientation and insufficient adaptability to environmental…

Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards that drive truly dynamic, goal-oriented behaviors. Commands…

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial…

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…

Many roboticists dream of presenting a robot with a task in the evening and returning the next morning to find the robot capable of solving the task. What is preventing us from achieving this? Sim-to-real reinforcement learning (RL) has…

Dexterous grasping in the real world presents a fundamental and significant challenge for robot learning. The ability to employ affordance-aware poses to grasp objects with diverse geometries and properties in arbitrary scenarios is…

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…

Sim2Real (Simulation to Reality) techniques have gained prominence in robotic manipulation and motion planning due to their ability to enhance success rates by enabling agents to test and evaluate various policies and trajectories. In this…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment…