相关论文: GPU-Accelerated Robotic Simulation for Distributed…

Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced…

Deep reinforcement learning (RL) has achieved many recent successes, yet experiment turn-around time remains a key bottleneck in research and in practice. We investigate how to optimize existing deep RL algorithms for modern computers,…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

In this work we propose an accelerated stochastic learning system for very large-scale applications. Acceleration is achieved by mapping the training algorithm onto massively parallel processors: we demonstrate a parallel, asynchronous GPU…

Robotic surgery is a rapidly developing field that can greatly benefit from the automation of surgical tasks. However, training techniques such as Reinforcement Learning (RL) require a high number of task repetitions, which are generally…

Reinforcement learning (RL) workloads take a notoriously long time to train due to the large number of samples collected at run-time from simulators. Unfortunately, cluster scale-up approaches remain expensive, and commonly used CPU…

Reinforcement learning augmented by the representational power of deep neural networks, has shown promising results on high-dimensional problems, such as game playing and robotic control. However, the sequential nature of these problems…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

Reinforcement learning (RL) has driven significant progress in robotics, but its complexity and long training times remain major bottlenecks. In this report, we introduce FastTD3, a simple, fast, and capable RL algorithm that significantly…

With deep reinforcement learning (RL) methods achieving results that exceed human capabilities in games, robotics, and simulated environments, continued scaling of RL training is crucial to its deployment in solving complex real-world…

Data-driven methods for computer simulations are blooming in many scientific areas. The traditional approach to simulating physical behaviors relies on solving partial differential equations (PDE). Since calculating these iterative…

With the increasing popularity of robotics in industrial control and autonomous driving, deep reinforcement learning (DRL) raises the attention of various fields. However, DRL computation on the modern powerful GPU platform is still…

We propose a generic algorithmic building block to accelerate training of machine learning models on heterogeneous compute systems. Our scheme allows to efficiently employ compute accelerators such as GPUs and FPGAs for the training of…

We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19,000 frames of experience per second on a single GPU and…

Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…

Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

In this work, we present and study a training set-up that achieves fast policy generation for real-world robotic tasks by using massive parallelism on a single workstation GPU. We analyze and discuss the impact of different training…

Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks and lack features critical for scaling generalizable robotics…