相关论文: Robot Learning with Super-Linear Scaling

Virtual testing is a crucial task to ensure safety in autonomous driving, and sensor simulation is an important task in this domain. Most current LiDAR simulations are very simplistic and are mainly used to perform initial tests, while the…

Data scaling is fundamental to modern deep learning, and grows increasingly critical as autonomous driving shifts to end-to-end learning. Real-world driving data is expensive to annotate and scene-biased, making real-synthetic co-training…

Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Forklifts are used extensively in various industrial settings and are in high demand for automation. In particular, counterbalance forklifts are highly versatile and employed in diverse scenarios. However, efforts to automate these…

Simulation based learning often provides a cost-efficient recourse to reinforcement learning applications in robotics. However, simulators are generally incapable of accurately replicating real-world dynamics, and thus bridging the sim2real…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

Crowd-sourcing has become a popular means of acquiring labeled data for a wide variety of tasks where humans are more accurate than computers, e.g., labeling images, matching objects, or analyzing sentiment. However, relying solely on the…

We present scalable hybrid-parallel algorithms for training large-scale 3D convolutional neural networks. Deep learning-based emerging scientific workflows often require model training with large, high-dimensional samples, which can make…

Traditional rendering pipelines rely on complex assets, accurate materials and lighting, and substantial computational resources to produce realistic imagery, yet they still face challenges in scalability and realism for populated dynamic…

Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low cost. However, prior works in sim-to-real…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a…

Recent work has focused on generating synthetic imagery to increase the size and variability of training data for learning visual tasks in urban scenes. This includes increasing the occurrence of occlusions or varying environmental and…