相关论文: Auto-Tuned Sim-to-Real Transfer

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable…

Learning in simulation and transferring the learned policy to the real world has the potential to enable generalist robots. The key challenge of this approach is to address simulation-to-reality (sim-to-real) gaps. Previous methods often…

Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…

Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and the real world. However, DR often requires careful tuning of…

How can robots learn and adapt to new tasks and situations with little data? Systematic exploration and simulation are crucial tools for efficient robot learning. We present a novel black-box policy search algorithm focused on…

Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on physical parameters, when the environment changes, a roboticist…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

Learning-based image harmonization techniques are usually trained to undo synthetic random global transformations applied to a masked foreground in a single ground truth photo. This simulated data does not model many of the important…

For driver observation frameworks, clean datasets collected in controlled simulated environments often serve as the initial training ground. Yet, when deployed under real driving conditions, such simulator-trained models quickly face the…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

Simulation has recently become key for deep reinforcement learning to safely and efficiently acquire general and complex control policies from visual and proprioceptive inputs. Tactile information is not usually considered despite its…

Recommender systems are often asked to serve multiple recommendation scenarios or domains. Fine-tuning a pre-trained CTR model from source domains and adapting it to a target domain allows knowledge transferring. However, optimizing all the…

Deep Reinforcement Learning (RL) has been explored and verified to be effective in solving decision-making tasks in various domains, such as robotics, transportation, recommender systems, etc. It learns from the interaction with…

The Segment Anything Model (SAM) is widely used for segmenting a diverse range of objects in natural images from simple user prompts like points or bounding boxes. However, SAM's performance decreases substantially when applied to…

Self-driving software pipelines include components that are learned from a significant number of training examples, yet it remains challenging to evaluate the overall system's safety and generalization performance. Together with scaling up…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

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…

Fine-tuning simulation-trained RL agents with real-world data often degrades crucial behaviors due to limited or skewed data distributions. We argue that designer priorities exist not just in reward functions, but also in simulation design…

Automatic Speech Recognition (ASR) systems have found their use in numerous industrial applications in very diverse domains. Since domain-specific systems perform better than their generic counterparts on in-domain evaluation, the need for…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…