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

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

Meta-reinforcement learning algorithms provide a data-driven way to acquire policies that quickly adapt to many tasks with varying rewards or dynamics functions. However, learned meta-policies are often effective only on the exact task…

Even though the peg-hole insertion is one of the well-studied problems in robotics, it still remains a challenge for robots, especially when it comes to flexibility and the ability to generalize. Successful completion of the task requires…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically challenging due to the stochasticity, reproducibility, and…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

Most self-driving systems rely on hand-coded perception outputs and engineered driving rules. Learning directly from human driving data with an end-to-end method can allow for a training architecture that is simpler and scales well with…

This paper focuses on the problem of detecting and reacting to changes in the distribution of a sensorimotor controller's observables. The key idea is the design of switching policies that can take conformal quantiles as input, which we…

Transferring policies learned in simulation to the real world is a promising strategy for acquiring robot skills at scale. However, sim-to-real approaches typically rely on manual design and tuning of the task reward function as well as the…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Deploying machine learning algorithms for robot tasks in real-world applications presents a core challenge: overcoming the domain gap between the training and the deployment environment. This is particularly difficult for visuomotor…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system. On the other hand, simulations are a useful alternative as they provide an…

In this study, we show that a movement policy can be improved efficiently using the previous experiences of a real robot. Reinforcement Learning (RL) is becoming a popular approach to acquire a nonlinear optimal policy through trial and…

This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…

The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

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…