相关论文: An Open-source Sim2Real Approach for Sensor-indepe…

Safety is a critical component of autonomous systems and remains a challenge for learning-based policies to be utilized in the real world. In particular, policies learned using reinforcement learning often fail to generalize to novel…

Accurately manipulating articulated objects is a challenging yet important task for real robot applications. In this paper, we present a novel framework called Sim2Real$^2$ to enable the robot to manipulate an unseen articulated object to…

Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…

In this study, we present two distinct approaches within the realm of Deep Reinforcement Learning (Deep-RL) aimed at enhancing mapless navigation for a ground-based mobile robot. The research methodology primarily involves a comparative…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

In recent years, reinforcement learning (RL) has shown remarkable success in robotics when a fast and accurate simulator is available for a given task. When using RL and simulation, more simulator realism is generally beneficial but becomes…

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,…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Sim-to-real transfer is a fundamental challenge in robot reinforcement learning. Discrepancies between simulation and reality can significantly impair policy performance, especially if it receives high-dimensional inputs such as dense depth…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…

A key barrier to the real-world deployment of humanoid robots is the lack of autonomous loco-manipulation skills. We introduce VIRAL, a visual sim-to-real framework that learns humanoid loco-manipulation entirely in simulation and deploys…

Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…

Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the reality gap). Some existing solutions to this sim-to-real problem, such as Grounded…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Learning agents can optimize standard autonomous navigation improving flexibility, efficiency, and computational cost of the system by adopting a wide variety of approaches. This work introduces the \textit{PIC4rl-gym}, a fundamental…

One fundamental difficulty in robotic learning is the sim-real gap problem. In this work, we propose to use segmentation as the interface between perception and control, as a domain-invariant state representation. We identify two sources of…