相关论文: Closing the Sim-to-Real Loop: Adapting Simulation …

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain randomization are expected to enhance policy robustness across…

In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard…

Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

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…

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…

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…

We present CREST, an approach for causal reasoning in simulation to learn the relevant state space for a robot manipulation policy. Our approach conducts interventions using internal models, which are simulations with approximate dynamics…

Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and…

Fine-tuning simulation-trained RL agents with real-world data often degrades crucial behaviors due to limited or skewed data distributions. We argue that designer priorities exist not just in reward functions, but also in simulation design…

Designing agile locomotion for quadruped robots often requires extensive expertise and tedious manual tuning. In this paper, we present a system to automate this process by leveraging deep reinforcement learning techniques. Our system can…

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…

Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulation to actual hardware remains an open challenge due to the…

Learning robot skills from scratch is often time-consuming, while reusing data promotes sustainability and improves sample efficiency. This study investigates policy transfer across different robotic platforms, focusing on peg-in-hole task…