相关论文: Skill Transfer and Discovery for Sim-to-Real Learn…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Reinforcement learning encounters many challenges when applied directly in the real world. Sim-to-real transfer is widely used to transfer the knowledge learned from simulation to the real world. Domain randomization -- one of the most…

Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact,…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driven by the extensive use of simulation as a critical tool for…

Whereas reinforcement learning has been applied with success to a range of robotic control problems in complex, uncertain environments, reliance on extensive data - typically sourced from simulation environments - limits real-world…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

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…

Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…

To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). In this paper, we…

Reinforcement learning (RL) is playing an increasingly important role in fields such as robotic control and autonomous driving. However, the gap between simulation and the real environment remains a major obstacle to the practical…

Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation,…

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…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…