相关论文: Generalizable Domain Adaptation for Sim-and-Real P…

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…

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…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

In order to mitigate the sample complexity of real-world reinforcement learning, common practice is to first train a policy in a simulator where samples are cheap, and then deploy this policy in the real world, with the hope that it…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Domain generalization (DG) focuses on transferring domain-invariant knowledge from multiple source domains (available at train time) to an, a priori, unseen target domain(s). This requires a class to be expressed in multiple domains for the…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Imitation learning from human demonstrations has become a dominant approach for training autonomous robot policies. However, collecting demonstration datasets is costly: it often requires access to robots and needs sustained effort in a…

Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Robotic manipulation in real-world settings remains challenging, especially regarding robust generalization. Existing simulation platforms lack sufficient support for exploring how policies adapt to varied instructions and scenarios. Thus,…

Imitation based robot learning has recently gained significant attention in the robotics field due to its theoretical potential for transferability and generalizability. However, it remains notoriously costly, both in terms of hardware and…

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…

Developing proficient brush manipulation capabilities in real-world scenarios is a complex and challenging endeavor, with wide-ranging applications in fields such as art, robotics, and digital design. In this study, we introduce an approach…

Domain generalization methods aim to learn models robust to domain shift with data from a limited number of source domains and without access to target domain samples during training. Popular domain alignment methods for domain…