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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…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

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…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…

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…

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…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

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…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid robots. Modern tooling and simulation platforms, such as…

This paper proposes a novel Reinforcement Learning (RL) approach for sim-to-real policy transfer of Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL-UAV). The proposed approach is designed for VTOL-UAV landing on offshore docking…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Recent years have witnessed significant progress in autonomous navigation using reinforcement learning. However, existing approaches largely emphasize reinforcement learning framework design, such as input representations, action spaces,…

Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Reinforcement learning (RL) algorithms can enable high-maneuverability in unmanned aerial vehicles (MAVs), but transferring them from simulation to real-world use is challenging. Variable-pitch propeller (VPP) MAVs offer greater agility,…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…