相关论文: Auto-Tuned Sim-to-Real Transfer

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

Real world data, especially in the domain of robotics, is notoriously costly to collect. One way to circumvent this can be to leverage the power of simulation to produce large amounts of labelled data. However, training models on simulated…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This…

Efficiency of self-optimizing systems is heavily dependent on their optimization strategies, e.g., choosing exact or approximate solver. A choice of such a strategy, in turn, is influenced by numerous factors, such as re-optimization time,…

This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic simulator. Since controllers designed for the mathematical…

Numerous solutions are proposed for the Traffic Signal Control (TSC) tasks aiming to provide efficient transportation and mitigate congestion waste. In recent, promising results have been attained by Reinforcement Learning (RL) methods…

Prompt tuning attempts to update few task-specific parameters in pre-trained models. It has achieved comparable performance to fine-tuning of the full parameter set on both language understanding and generation tasks. In this work, we study…

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…

Embedded controllers for cyber-physical systems are often parameterized by look-up maps representing discretizations of continuous functions on metric spaces. For example, a non-linear control action may be represented as a table of…

Artistic style transfer is the problem of synthesizing an image with content similar to a given image and style similar to another. Although recent feed-forward neural networks can generate stylized images in real-time, these models produce…

Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating sophisticated models of humanoid robots, they often require…

Tactile sensors are believed to be essential in robotic manipulation, and prior works often rely on experts to reason the sensor feedback and design a controller. With the recent advancement in data-driven approaches, complicated…

We introduce a technique that can automatically tune the parameters of a rule-based computer vision system comprised of thresholds, combinational logic, and time constants. This lets us retain the flexibility and perspicacity of a…

Domain randomization is a popular technique for improving domain transfer, often used in a zero-shot setting when the target domain is unknown or cannot easily be used for training. In this work, we empirically examine the effects of domain…

How can we reliably simulate future driving scenarios under a wide range of ego driving behaviors? Recent driving world models, developed exclusively on real-world driving data composed mainly of safe expert trajectories, struggle to follow…

Data augmentations are useful in closing the sim-to-real domain gap when training on synthetic data. This is because they widen the training data distribution, thus encouraging the model to generalize better to other domains. Many image…

Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…