相关论文: Using Simulation Optimization to Improve Zero-shot…

Model-free policy learning has enabled robust performance of complex tasks with relatively simple algorithms. However, this simplicity comes at the cost of requiring an Oracle and arguably very poor sample complexity. This renders such…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…

Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…

Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments relies on dimensional analysis and the…

Feedback control of fluid-based systems poses significant challenges due to their high-dimensional, nonlinear, and multiscale dynamics, which demand real-time, three-dimensional, multi-component measurements for sensing. While such…

Starting with the basic control system model often employed in NMR pulse design, we derive more realistic control system models taking into account effects such as off-resonant excitation for systems with fixed inter-qubit coupling…

This paper presents a transferable solution method for optimal control problems with varying objectives using function encoder (FE) policies. Traditional optimization-based approaches must be re-solved whenever objectives change, resulting…

Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We…

Transfer learning is an umbrella term for machine learning approaches that leverage knowledge gained from solving one problem (the source domain) to improve speed, efficiency, and data requirements in solving a different but related problem…

Off-policy learning methods seek to derive an optimal policy directly from a fixed dataset of prior interactions. This objective presents significant challenges, primarily due to the inherent distributional shift and value function…

Various approaches have been proposed to learn visuo-motor policies for real-world robotic applications. One solution is first learning in simulation then transferring to the real world. In the transfer, most existing approaches need…

Simulation-to-simulation and simulation-to-real world transfer of neural network models have been a difficult problem. To close the reality gap, prior methods to simulation-to-real world transfer focused on domain adaptation, decoupling…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent…

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…

This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Learning-based approaches, particularly reinforcement learning (RL), have become widely used for developing control policies for autonomous agents, such as locomotion policies for legged robots. RL training typically maximizes a predefined…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Offline reinforcement learning allows training reinforcement learning models on data from live deployments. However, it is limited to choosing the best combination of behaviors present in the training data. In contrast, simulation…