相关论文: RetinaGAN: An Object-aware Approach to Sim-to-Real…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Deep Reinforcement Learning (DRL) has shown remarkable success in solving complex tasks across various research fields. However, transferring DRL agents to the real world is still challenging due to the significant discrepancies between…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion…

The use of accurate scanning transmission electron microscopy (STEM) image simulation methods require large computation times that can make their use infeasible for the simulation of many images. Other simulation methods based on linear…

Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Generative adversarial networks (GANs) have attained photo-realistic quality in image generation. However, how to best control the image content remains an open challenge. We introduce LatentKeypointGAN, a two-stage GAN which is trained…

Visual Reinforcement Learning (Visual RL), coupled with high-dimensional observations, has consistently confronted the long-standing challenge of out-of-distribution generalization. Despite the focus on algorithms aimed at resolving visual…

Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particularly difficult. Imitation, typically behavior cloning or…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…

Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on…

We show that pre-trained Generative Adversarial Networks (GANs) such as StyleGAN and BigGAN can be used as a latent bank to improve the performance of image super-resolution. While most existing perceptual-oriented approaches attempt to…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

In this work, we present an application of domain randomization and generative adversarial networks (GAN) to train a near real-time object detector for industrial electric parts, entirely in a simulated environment. Large scale availability…

A class of recent approaches for generating images, called Generative Adversarial Networks (GAN), have been used to generate impressively realistic images of objects, bedrooms, handwritten digits and a variety of other image modalities.…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

We propose an approach for semantic imitation, which uses demonstrations from a source domain, e.g. human videos, to accelerate reinforcement learning (RL) in a different target domain, e.g. a robotic manipulator in a simulated kitchen.…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…