相关论文: Data-efficient Domain Randomization with Bayesian …

Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and the real world. However, DR often requires careful tuning of…

Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simple yet effective technique to address dynamics discrepancies…

Recently, reinforcement learning (RL) algorithms have demonstrated remarkable success in learning complicated behaviors from minimally processed input. However, most of this success is limited to simulation. While there are promising…

Reinforcement learning encounters many challenges when applied directly in the real world. Sim-to-real transfer is widely used to transfer the knowledge learned from simulation to the real world. Domain randomization -- one of the most…

Varying dynamics parameters in simulation is a popular Domain Randomization (DR) approach for overcoming the reality gap in Reinforcement Learning (RL). Nevertheless, DR heavily hinges on the choice of the sampling distribution of the…

Domain randomization has emerged as a fundamental technique in reinforcement learning (RL) to facilitate the transfer of policies from simulation to real-world robotic applications. Many existing domain randomization approaches have been…

Domain randomization (DR) is a successful technique for learning robust policies for robot systems, when the dynamics of the target robot system are unknown. The success of policies trained with domain randomization however, is highly…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment…

Domain randomization is a simple, effective, and flexible scheme for obtaining robust feedback policies aimed at reducing the sim-to-real gap due to model mismatch. While domain randomization methods have yielded impressive demonstrations…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…

Domain randomization (DR) enables sim-to-real transfer by training controllers on a distribution of simulated environments, with the goal of achieving robust performance in the real world. Although DR is widely used in practice and is often…

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…

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…

Real world data, especially in the domain of robotics, is notoriously costly to collect. One way to circumvent this can be to leverage the power of simulation to produce large amounts of labelled data. However, training models on simulated…

Physics simulators have shown great promise for conveniently learning reinforcement learning policies in safe, unconstrained environments. However, transferring the acquired knowledge to the real world can be challenging due to the reality…

Policies trained in simulation often fail when transferred to the real world due to the `reality gap' where the simulator is unable to accurately capture the dynamics and visual properties of the real world. Current approaches to tackle…

Domain generalization aims to develop a model that can perform well on unseen target domains by learning from multiple source domains. However, recent-proposed domain generalization models usually rely on domain labels, which may not be…

Domain randomisation is a very popular method for visual sim-to-real transfer in robotics, due to its simplicity and ability to achieve transfer without any real-world images at all. Nonetheless, a number of design choices must be made to…