相关论文: Robust Visual Domain Randomization for Reinforceme…

We consider the problem of generalization in reinforcement learning where visual aspects of the observations might differ, e.g. when there are different backgrounds or change in contrast, brightness, etc. We assume that our agent has access…

Deep reinforcement learning (RL) agents often fail to generalize to unseen environments (yet semantically similar to trained agents), particularly when they are trained on high-dimensional state spaces, such as images. In this paper, we…

Visual domain randomization in simulated environments is a widely used method to transfer policies trained in simulation to real robots. However, domain randomization and augmentation hamper the training of a policy. As reinforcement…

A crucial aspect in reliable machine learning is to design a deployable system in generalizing new related but unobserved environments. Domain generalization aims to alleviate such a prediction gap between the observed and unseen…

Domain randomization is a popular technique for improving domain transfer, often used in a zero-shot setting when the target domain is unknown or cannot easily be used for training. In this work, we empirically examine the effects of domain…

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…

Domain randomization in reinforcement learning is an established technique for increasing the robustness of control policies trained in simulation. By randomizing environment properties during training, the learned policy can become robust…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Convolution neural networks have achieved remarkable performance in many tasks of computing vision. However, CNN tends to bias to low frequency components. They prioritize capturing low frequency patterns which lead them fail when suffering…

Visual Reinforcement Learning is a popular and powerful framework that takes full advantage of the Deep Learning breakthrough. It is known that variations in input domains (e.g., different panorama colors due to seasonal changes) or task…

Domain generalization refers to the problem where we aim to train a model on data from a set of source domains so that the model can generalize to unseen target domains. Naively training a model on the aggregate set of data (pooled from all…

Vision-based reinforcement learning (RL) is successful, but how to generalize it to unknown test environments remains challenging. Existing methods focus on training an RL policy that is universal to changing visual domains, whereas we…

While successful for various computer vision tasks, deep neural networks have shown to be vulnerable to texture style shifts and small perturbations to which humans are robust. In this work, we show that the robustness of neural networks…

Generalization in Reinforcement Learning (RL) aims to learn an agent during training that generalizes to the target environment. This paper studies RL generalization from a theoretical aspect: how much can we expect pre-training over…

Most standard learning approaches lead to fragile models which are prone to drift when sequentially trained on samples of a different nature - the well-known "catastrophic forgetting" issue. In particular, when a model consecutively learns…

Imitation from videos often fails when expert demonstrations and learner environments exhibit domain shifts, such as discrepancies in lighting, color, or texture. While visual randomization partially addresses this problem by augmenting…

Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…

Domain generalization methods aim to learn models robust to domain shift with data from a limited number of source domains and without access to target domain samples during training. Popular domain alignment methods for domain…

Contact-rich manipulation plays an important role in human daily activities, but uncertain parameters pose significant challenges for robots to achieve comparable performance through planning and control. To address this issue, domain…