相关论文: SimGAN: Hybrid Simulator Identification for Domain…

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…

Simulation-to-real domain adaptation for semantic segmentation has been actively studied for various applications such as autonomous driving. Existing methods mainly focus on a single-source setting, which cannot easily handle a more…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Adversarial discriminative domain adaptation (ADDA) is an efficient framework for unsupervised domain adaptation in image classification, where the source and target domains are assumed to have the same classes, but no labels are available…

Data sparsity and data imbalance are practical and challenging issues in cross-domain recommender systems. This paper addresses those problems by leveraging the concepts which derive from representation learning, adversarial learning and…

We propose a simple, practical, and intuitive approach for domain adaptation in reinforcement learning. Our approach stems from the idea that the agent's experience in the source domain should look similar to its experience in the target…

Learning task-oriented dialog policies via reinforcement learning typically requires large amounts of interaction with users, which in practice renders such methods unusable for real-world applications. In order to reduce the data…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

The light and soft characteristics of Buoyancy Assisted Lightweight Legged Unit (BALLU) robots have a great potential to provide intrinsically safe interactions in environments involving humans, unlike many heavy and rigid robots. However,…

Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…

Domain-adaptive trajectory imitation is a skill that some predators learn for survival, by mapping dynamic information from one domain (their speed and steering direction) to a different domain (current position of the moving prey). An…

Appearance changes due to weather and seasonal conditions represent a strong impediment to the robust implementation of machine learning systems in outdoor robotics. While supervised learning optimises a model for the training domain, it…

Collecting and automatically obtaining reward signals from real robotic visual data for the purposes of training reinforcement learning algorithms can be quite challenging and time-consuming. Methods for utilizing unlabeled data can have a…

Unsupervised domain adaptation aims to learn a model of classifier for unlabeled samples on the target domain, given training data of labeled samples on the source domain. Impressive progress is made recently by learning invariant features…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on…

Adversarial training is a useful approach to promote the learning of transferable representations across the source and target domains, which has been widely applied for domain adaptation (DA) tasks based on deep neural networks. Until very…