相关论文: Sim-to-Real Transfer via a Style-Identified Cycle …

Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire…

Large-scale synthetic datasets are beneficial to stereo matching but usually introduce known domain bias. Although unsupervised image-to-image translation networks represented by CycleGAN show great potential in dealing with domain gap, it…

Zero-shot domain adaptation is a method for adapting a model to a target domain without utilizing target domain image data. To enable adaptation without target images, existing studies utilize CLIP's embedding space and text description to…

Domain adaptation is an important open problem in deep reinforcement learning (RL). In many scenarios of interest data is hard to obtain, so agents may learn a source policy in a setting where data is readily available, with the hope that…

Autonomous agents trained using deep reinforcement learning (RL) often lack the ability to successfully generalise to new environments, even when these environments share characteristics with the ones they have encountered during training.…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

Training a model to perform a task typically requires a large amount of data from the domains in which the task will be applied. However, it is often the case that data are abundant in some domains but scarce in others. Domain adaptation…

Although deep reinforcement learning (deep RL) methods have lots of strengths that are favorable if applied to autonomous driving, real deep RL applications in autonomous driving have been slowed down by the modeling gap between the source…

Real-world face super-resolution (SR) is a highly ill-posed image restoration task. The fully-cycled Cycle-GAN architecture is widely employed to achieve promising performance on face SR, but prone to produce artifacts upon challenging…

Current `dry lab' surgical phantom simulators are a valuable tool for surgeons which allows them to improve their dexterity and skill with surgical instruments. These phantoms mimic the haptic and shape of organs of interest, but lack a…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

In this work, we propose a novel Cyclic Image Translation Generative Adversarial Network (CIT-GAN) for multi-domain style transfer. To facilitate this, we introduce a Styling Network that has the capability to learn style characteristics of…

Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques are provably safe, however difficult to scale, while domain…

Machine learning models trained in one domain perform poorly in the other domains due to the existence of domain shift. Domain adaptation techniques solve this problem by training transferable models from the label-rich source domain to the…

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,…

Our work offers a new method for domain translation from semantic label maps and Computer Graphic (CG) simulation edge map images to photo-realistic images. We train a Generative Adversarial Network (GAN) in a conditional way to generate a…

Rendering programs have changed the design process completely as they permit to see how the products will look before they are fabricated. However, the rendering process is complicated and takes a significant amount of time, not only in the…

Soft continuum arms (SCAs) soft and deformable nature presents challenges in modeling and control due to their infinite degrees of freedom and non-linear behavior. This work introduces a reinforcement learning (RL)-based framework for…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…