相关论文: Crossing The Gap: A Deep Dive into Zero-Shot Sim-t…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller,…

Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driven by the extensive use of simulation as a critical tool for…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

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…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

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…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

Developing control policies in simulation is often more practical and safer than directly running experiments in the real world. This applies to policies obtained from planning and optimization, and even more so to policies obtained from…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

This chapter addresses the critical challenge of simulation-to-reality (sim-to-real) transfer for deep reinforcement learning (DRL) in bipedal locomotion. After contextualizing the problem within various control architectures, we dissect…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulation to actual hardware remains an open challenge due to the…

Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introduces a reinforcement learning (RL)-based framework for…