相关论文: Sim-To-Real Transfer for Miniature Autonomous Car …

Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…

Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…

Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…

Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation,…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

Autonomously trained agents that are supposed to play video games reasonably well rely either on fast simulation speeds or heavy parallelization across thousands of machines running concurrently. This work explores a third way that is…

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) --…

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…

Safe deployment of self-driving cars (SDC) necessitates thorough simulated and in-field testing. Most testing techniques consider virtualized SDCs within a simulation environment, whereas less effort has been directed towards assessing…

In the field of Autonomous Driving, the system controlling the vehicle can be seen as an agent acting in a complex environment and thus naturally fits into the modern framework of Reinforcement Learning. However, learning to drive can be a…

Due to limited resources and public safety concerns, deep reinforcement learning (RL) agents for many cyber-physical systems (e.g., autonomous vehicles) are first trained in simulators. However, when deployed in real world environments,…

Despite the remarkable success of Deep RL in learning control policies from raw pixels, the resulting models do not generalize. We demonstrate that a trained agent fails completely when facing small visual changes, and that…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

Sample-efficient domain adaptation is an open problem in robotics. In this paper, we present affine transport -- a variant of optimal transport, which models the mapping between state transition distributions between the source and target…

Practical learning-based autonomous driving models must be capable of generalizing learned behaviors from simulated to real domains, and from training data to unseen domains with unusual image properties. In this paper, we investigate…

This work presents the experiments and solution outline for our teams winning submission in the Learn To Race Autonomous Racing Virtual Challenge 2022 hosted by AIcrowd. The objective of the Learn-to-Race competition is to push the boundary…

Autonomous racing presents a complex environment requiring robust controllers capable of making rapid decisions under dynamic conditions. While traditional controllers based on tire models are reliable, they often demand extensive tuning or…

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require highly accurate perception, state estimation, planning and…