相关论文: Policy Transfer via Kinematic Domain Randomization…

In most real world scenarios, a policy trained by reinforcement learning in one environment needs to be deployed in another, potentially quite different environment. However, generalization across different environments is known to be hard.…

Safety is a critical component of autonomous systems and remains a challenge for learning-based policies to be utilized in the real world. In particular, policies learned using reinforcement learning often fail to generalize to novel…

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…

We propose to harness the potential of simulation for the semantic segmentation of real-world self-driving scenes in a domain generalization fashion. The segmentation network is trained without any data of target domains and tested on the…

Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains largely unresolved. Multi-Agent Reinforcement Learning has…

Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Robot learning holds the promise of learning policies that generalize broadly. However, such generalization requires sufficiently diverse datasets of the task of interest, which can be prohibitively expensive to collect. In other fields,…

Feedback control of fluid-based systems poses significant challenges due to their high-dimensional, nonlinear, and multiscale dynamics, which demand real-time, three-dimensional, multi-component measurements for sensing. While such…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Reinforcement learning (RL) algorithms have proven transformative in a range of domains. To tackle real-world domains, these systems often use neural networks to learn policies directly from pixels or other high-dimensional sensory input.…

The application of learning-based control methods in robotics presents significant challenges. One is that model-free reinforcement learning algorithms use observation data with low sample efficiency. To address this challenge, a prevalent…

Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…

A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically challenging due to the stochasticity, reproducibility, and…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

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…

The well known domain shift issue causes model performance to degrade when deployed to a new target domain with different statistics to training. Domain adaptation techniques alleviate this, but need some instances from the target domain to…

The high sample complexity of reinforcement learning challenges its use in practice. A promising approach is to quickly adapt pre-trained policies to new environments. Existing methods for this policy adaptation problem typically rely on…