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

With contemporary advancements of graphics engines, recent trend in deep learning community is to train models on automatically annotated simulated examples and apply on real data during test time. This alleviates the burden of manual…

This paper aims to examine the potential of using the emerging deep reinforcement learning techniques in flight control. Instead of learning from scratch, we suggest to leverage domain knowledge available in learning to improve learning…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Generating large-scale synthetic data in simulation is a feasible alternative to collecting/labelling real data for training vision-based deep learning models, albeit the modelling inaccuracies do not generalize to the physical world. In…

Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system. On the other hand, simulations are a useful alternative as they provide an…

A powerful simulator highly decreases the need for real-world tests when training and evaluating autonomous vehicles. Data-driven simulators flourished with the recent advancement of conditional Generative Adversarial Networks (cGANs),…

Unseen shifts in environment dynamics, driven by hidden parameters such as friction or gravity, create a challenge for maintaining safety. We address this challenge by proposing Adaptive Shielding, a framework for safe reinforcement…

Domain adaptation (DA) and domain generalization (DG) have emerged as a solution to the domain shift problem where the distribution of the source and target data is different. The task of DG is more challenging than DA as the target data is…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

Online machine learning systems need to adapt to domain shifts. Meanwhile, acquiring label at every timestep is expensive. We propose a surprisingly simple algorithm that adaptively balances its regret and its number of label queries in…

The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation. Conventional physics engines often trade accuracy for…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…

Transfer learning across domains with distribution shift remains a fundamental challenge in building robust and adaptable machine learning systems. While adversarial perturbations are traditionally viewed as threats that expose model…

Training deep neural network policies end-to-end for real-world applications so far requires big demonstration datasets in the real world or big sets consisting of a large variety of realistic and closely related 3D CAD models. These real…

Autonomous driving relies on a huge volume of real-world data to be labeled to high precision. Alternative solutions seek to exploit driving simulators that can generate large amounts of labeled data with a plethora of content variations.…

Domain adaptation and generative modelling have collectively mitigated the expensive nature of data collection and labelling by leveraging the rich abundance of accurate, labelled data in simulation environments. In this work, we study the…

Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…