相关论文: Learning to Augment Synthetic Images for Sim2Real …

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

Deep reinforcement learning has the potential to train robots to perform complex tasks in the real world without requiring accurate models of the robot or its environment. A practical approach is to train agents in simulation, and then…

For a robot to learn a good policy, it often requires expensive equipment (such as sophisticated sensors) and a prepared training environment conducive to learning. However, it is seldom possible to perfectly equip robots for economic…

Robotic ultrasound (US) systems have shown great potential to make US examinations easier and more accurate. Recently, various machine learning techniques have been proposed to realize automatic US image interpretation for robotic US…

Robot foundation models are beginning to deliver on the promise of generalist robotic agents, yet progress remains constrained by the scarcity of large-scale real-world manipulation datasets. Simulation and synthetic data generation offer a…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

We propose a self-supervised training approach for learning view-invariant dense visual descriptors using image augmentations. Unlike existing works, which often require complex datasets, such as registered RGBD sequences, we train on an…

Synthetic data is a scalable alternative to manual supervision, but it requires overcoming the sim-to-real domain gap. This discrepancy between virtual and real worlds is addressed by two seemingly opposed approaches: improving the realism…

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,…

Images seen during test time are often not from the same distribution as images used for learning. This problem, known as domain shift, occurs when training classifiers from object-centric internet image databases and trying to apply them…

Imitation Learning uses the demonstrations of an expert to uncover the optimal policy and it is suitable for real-world robotics tasks as well. In this case, however, the training of the agent is carried out in a simulation environment due…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…

A common practice in unsupervised representation learning is to use labeled data to evaluate the quality of the learned representations. This supervised evaluation is then used to guide critical aspects of the training process such as…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

As synthetic imagery is used more frequently in training deep models, it is important to understand how different synthesis techniques impact the performance of such models. In this work, we perform a thorough evaluation of the…

Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from images. In this work, we demonstrate that locomotion…