Preparing for the Unknown: Learning a Universal Policy with Online System Identification

8 February 2017

Wenhao Yu

Jie Tan

Papers citing "Preparing for the Unknown: Learning a Universal Policy with Online System Identification"

50 / 92 papers shown

Title
Parameter Estimation using Reinforcement Learning Causal Curiosity: Limits and Challenges Miguel Arana-Catania Weisi Guo CML 35 0 0 13 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong Koushil Sreenath Yang Gao 28 0 0 12 May 2025
MARS: Defending Unmanned Aerial Vehicles From Attacks on Inertial Sensors with Model-based Anomaly Detection and Recovery Haocheng Meng Shaocheng Luo Zhenyuan Liang Qing Huang Amir Khazraei Miroslav Pajic AAML 31 0 0 02 May 2025
Policy Regularization on Globally Accessible States in Cross-Dynamics Reinforcement Learning Zhenghai Xue Lang Feng Jiacheng Xu Kang Kang Xiang Wen Jingyi Wang Shuicheng Yan OffRL 53 0 0 10 Mar 2025
On Generalization Across Environments In Multi-Objective Reinforcement Learning Jayden Teoh Pradeep Varakantham Peter Vamplew OffRL 36 1 0 02 Mar 2025
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients Hajun Kim Dongyun Kang Min-Gyu Kim Gijeong Kim Hae-Won Park 68 1 0 24 Feb 2025
Coreset-Based Task Selection for Sample-Efficient Meta-Reinforcement Learning Donglin Zhan Leonardo F. Toso James Anderson 101 1 0 04 Feb 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning Patrick Yin Tyler Westenbroek Simran Bagaria Kevin Huang Ching-an Cheng Andrey Kobolov Abhishek Gupta 80 2 0 04 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 107 1 0 16 Dec 2024
LiRA: Light-Robust Adversary for Model-based Reinforcement Learning in Real World Taisuke Kobayashi 71 2 0 29 Sep 2024
Simplex-enabled Safe Continual Learning Machine H. Cao Y. Mao Yihao Cai L. Sha Marco Caccamo 44 3 0 05 Sep 2024
Residual Learning and Context Encoding for Adaptive Offline-to-Online Reinforcement Learning Mohammadreza Nakhaei Aidan Scannell Joni Pajarinen OffRL 55 1 0 12 Jun 2024
Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate Fan Luo Zuolin Tu Zefang Huang Yang Yu OffRL 40 0 0 24 May 2024
Cross-Domain Policy Adaptation by Capturing Representation Mismatch Jiafei Lyu Chenjia Bai Jingwen Yang Zongqing Lu Xiu Li 32 9 0 24 May 2024
Natural Language Can Help Bridge the Sim2Real Gap Albert Yu Adeline Foote Raymond J. Mooney Roberto Martín-Martín LM&Ro 51 11 0 16 May 2024
Implicit-Explicit simulation of Mass-Spring-Charge Systems Zhiyuan Zhang Zhaocheng Liu Stefanos‐Aldo Papanicolopulos Kartic Subr Kartic Subr PINN 37 0 0 05 Mar 2024
Adaptive Control Strategy for Quadruped Robots in Actuator Degradation Scenarios Xinyuan Wu Wentao Dong Hang Lai Yong Yu Ying Wen 22 2 0 29 Dec 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving Sean J. Wang Honghao Zhu Aaron M. Johnson 32 6 0 12 Oct 2023
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps Haoyi Niu Tianying Ji Bingqi Liu Haocheng Zhao Xiangyu Zhu Jianying Zheng Pengfei Huang Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL AI4CE 29 7 0 22 Sep 2023
Foundational Policy Acquisition via Multitask Learning for Motor Skill Generation Satoshi Yamamori Jun Morimoto 28 0 0 31 Aug 2023
On-Robot Bayesian Reinforcement Learning for POMDPs Hai V. Nguyen Sammie Katt Yuchen Xiao Chris Amato OffRL 23 1 0 22 Jul 2023
DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Control M. Malmir Josip Josifovski Noah Klarmann Alois C. Knoll 39 2 0 15 Jun 2023
QuestEnvSim: Environment-Aware Simulated Motion Tracking from Sparse Sensors Sunmin Lee Sebastian Starke Yuting Ye Jungdam Won Alexander W. Winkler 16 32 0 09 Jun 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 27 14 0 09 Feb 2023
A Survey of Meta-Reinforcement Learning Jacob Beck Risto Vuorio E. Liu Zheng Xiong L. Zintgraf Chelsea Finn Shimon Whiteson OOD OffRL 39 124 0 19 Jan 2023
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 24 20 0 15 Dec 2022
Legged Locomotion in Challenging Terrains using Egocentric Vision Ananye Agarwal Ashish Kumar Jitendra Malik Deepak Pathak 34 207 0 14 Nov 2022
Max-Min Off-Policy Actor-Critic Method Focusing on Worst-Case Robustness to Model Misspecification Takumi Tanabe Reimi Sato Kazuto Fukuchi Jun Sakuma Youhei Akimoto OffRL 27 8 0 07 Nov 2022
Optimal Behavior Prior: Data-Efficient Human Models for Improved Human-AI Collaboration Mesut Yang Micah Carroll Anca Dragan 37 13 0 03 Nov 2022
Meta-Reinforcement Learning Using Model Parameters G. Hartmann A. Azaria 29 0 0 27 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Zipeng Fu Xuxin Cheng Deepak Pathak 19 144 0 18 Oct 2022
GNM: A General Navigation Model to Drive Any Robot Dhruv Shah A. Sridhar Arjun Bhorkar Noriaki Hirose Sergey Levine 26 105 0 07 Oct 2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 34 13 0 29 Sep 2022
DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body A. Chiappa Alessandro Marin Vargas Alexander Mathis 34 7 0 28 Sep 2022
Open-Ended Diverse Solution Discovery with Regulated Behavior Patterns for Cross-Domain Adaptation Kang Xu Yan Ma Bingsheng Wei Wei Li 37 3 0 24 Sep 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Bo-wen Li Ding Zhao 79 45 0 16 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu Koushil Sreenath Sergey Levine 97 59 0 12 Sep 2022
A Survey on Model-based Reinforcement Learning Fan Luo Tian Xu Hang Lai Xiong-Hui Chen Weinan Zhang Yang Yu OffRL LRM 53 101 0 19 Jun 2022
Data Valuation for Offline Reinforcement Learning Amir Abolfazli Gregory Palmer D. Kudenko OffRL 28 0 0 19 May 2022
Forgetting and Imbalance in Robot Lifelong Learning with Off-policy Data Wenxuan Zhou Steven Bohez Jan Humplik A. Abdolmaleki Dushyant Rao Markus Wulfmeier Tuomas Haarnoja N. Heess OffRL 40 6 0 12 Apr 2022
Context is Everything: Implicit Identification for Dynamics Adaptation Ben Evans Abitha Thankaraj Lerrel Pinto 47 20 0 10 Mar 2022
Uncertainty Aware System Identification with Universal Policies B. L. Semage Thommen George Karimpanal Santu Rana Svetha Venkatesh 21 3 0 11 Feb 2022
Fast Model-based Policy Search for Universal Policy Networks B. L. Semage Thommen George Karimpanal Santu Rana Svetha Venkatesh 27 1 0 11 Feb 2022
Maximum Entropy Population-Based Training for Zero-Shot Human-AI Coordination Rui Zhao Jinming Song Yufeng Yuan Haifeng Hu Yang Gao Yi Wu Zhongqian Sun Yang Wei 32 63 0 22 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 73 0 03 Dec 2021
Learning Robust Controllers Via Probabilistic Model-Based Policy Search V. Charvet B. S. Jensen R. Murray-Smith 19 2 0 26 Oct 2021
Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu Ashish Kumar Jitendra Malik Deepak Pathak 22 115 0 25 Oct 2021
Block Contextual MDPs for Continual Learning Shagun Sodhani Franziska Meier Joelle Pineau Amy Zhang CLL 41 26 0 13 Oct 2021
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad) J. Collins Ross Brown Jurgen Leitner David Howard AI4CE 32 4 0 10 Sep 2021