相关论文: Domain Randomization via Entropy Maximization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

Recent domain generalization (DG) approaches typically use the hypothesis learned on source domains for inference on the unseen target domain. However, such a hypothesis can be arbitrarily far from the optimal one for the target domain,…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

Humanoids have the potential to be the ideal embodiment in environments designed for humans. Thanks to the structural similarity to the human body, they benefit from rich sources of demonstration data, e.g., collected via teleoperation,…

Training a robust policy is critical for policy deployment in real-world systems or dealing with unknown dynamics mismatch in different dynamic systems. Domain Randomization~(DR) is a simple and elegant approach that trains a conservative…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

Domain Randomization (DR) is known to require a significant amount of training data for good performance. We argue that this is due to DR's strategy of random data generation using a uniform distribution over simulation parameters, as a…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

While domain adaptation methods address data shifts, most assume target populations align with at least one source population, neglecting mixtures that combine sources influenced by factors like demographics. Additional challenges in…

Sim-to-real transfer remains a major challenge in reinforcement learning (RL) for robotics, as policies trained in simulation often fail to generalize to the real world due to discrepancies in environment dynamics. Domain Randomization (DR)…

Training deep reinforcement learning (DRL) locomotion policies often require massive amounts of data to converge to the desired behaviour. In this regard, simulators provide a cheap and abundant source. For successful sim-to-real transfer,…

We propose a novel approach for domain generalisation (DG) leveraging risk distributions to characterise domains, thereby achieving domain invariance. In our findings, risk distributions effectively highlight differences between training…

Mobile network that millions of people use every day is one of the most complex systems in the world. Optimization of mobile network to meet exploding customer demand and reduce capital/operation expenditures poses great challenges. Despite…

We propose to harness the potential of simulation for the semantic segmentation of real-world self-driving scenes in a domain generalization fashion. The segmentation network is trained without any data of target domains and tested on the…

This paper proposes a simple strategy for sim-to-real in Deep-Reinforcement Learning (DRL) -- called Roll-Drop -- that uses dropout during simulation to account for observation noise during deployment without explicitly modelling its…

Domain randomization is a simple, effective, and flexible scheme for obtaining robust feedback policies aimed at reducing the sim-to-real gap due to model mismatch. While domain randomization methods have yielded impressive demonstrations…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

Sim-to-real, a term that describes where a model is trained in a simulator then transferred to the real world, is a technique that enables faster deep reinforcement learning (DRL) training. However, differences between the simulator and the…

Our goal is to train control policies that generalize well to unseen environments. Inspired by the Distributionally Robust Optimization (DRO) framework, we propose DRAGEN - Distributionally Robust policy learning via Adversarial Generation…