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

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Robotic grasping refers to making a robotic system pick an object by applying forces and torques on its surface. Many recent studies use data-driven approaches to address grasping, but the sparse reward nature of this task made the learning…

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a…

Autonomous racing without prebuilt maps is a grand challenge for embedded robotics that requires kinodynamic planning from instantaneous sensor data at the acceleration and tire friction limits. Out-Of-Distribution (OOD) generalization to…

In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevations, and it is difficult to model the interaction dynamics…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

With the rising popularity of autonomous navigation research, Formula Student (FS) events are introducing a Driverless Vehicle (DV) category to their event list. This paper presents the initial investigation into utilising Deep…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

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…

In this work, we focus on the challenge of transferring an autonomous driving controller from simulation to the real world (i.e. Sim2Real). We propose a data-efficient method for online and on-the-fly adaptation of parametrizable control…

Sim-to-real transfer remains a major challenge in reinforcement learning (RL) for robotics, as policies trained in simulation often fail to generalize to the real world due to discrepancies in environment dynamics. Domain Randomization (DR)…

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…

With the development of deep representation learning, the domain of reinforcement learning (RL) has become a powerful learning framework now capable of learning complex policies in high dimensional environments. This review summarises deep…

Goal-directed Reinforcement Learning (RL) traditionally considers an agent interacting with an environment, prescribing a real-valued reward to an agent proportional to the completion of some goal. Goal-directed RL has seen large gains in…

Sim-to-real transfer trains RL agents in the simulated environments and then deploys them in the real world. Sim-to-real transfer has been widely used in practice because it is often cheaper, safer and much faster to collect samples in…

Traffic signal control (TSC) is a complex and important task that affects the daily lives of millions of people. Reinforcement Learning (RL) has shown promising results in optimizing traffic signal control, but current RL-based TSC methods…

Autonomous bicycles offer a promising agile solution for urban mobility and last-mile logistics. However, conventional control strategies often struggle with underactuated nonlinear dynamics, suffering from sensitivity to model mismatches…