相关论文: Predicting Sim-to-Real Transfer with Probabilistic…

In recent years, domain randomization over dynamics parameters has gained a lot of traction as a method for sim-to-real transfer of reinforcement learning policies in robotic manipulation; however, finding optimal randomization…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real world. In the transfer, most existing approaches need…

This paper proposes a novel alternative to existing sim-to-real methods for training control policies with simulated experiences. Unlike prior methods that typically rely on domain randomization over a fixed finite set of parameters, the…

Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific randomization technique and often on a highly customized…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Transfer Learning (TL) is a powerful tool that enables robots to transfer learned policies across different environments, tasks, or embodiments. To further facilitate this process, efforts have been made to combine it with Learning from…

Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourced from simulation environments - limits real-world…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

A practical approach to learning robot skills, often termed sim2real, is to train control policies in simulation and then deploy them on a real robot. Popular techniques to improve the sim2real transfer build on domain randomization (DR) --…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low cost. However, prior works in sim-to-real…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Simulation trained legged locomotion policies often exhibit performance loss on hardware due to dynamics discrepancies between the simulator and the real world, highlighting the need for approaches that adapt the simulator itself to better…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Learning robot control policies from physics simulations is of great interest to the robotics community as it may render the learning process faster, cheaper, and safer by alleviating the need for expensive real-world experiments. However,…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…