Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

18 October 2017

Pieter Abbeel

Papers citing "Sim-to-Real Transfer of Robotic Control with Dynamics Randomization"

50 / 253 papers shown

Title
Drive Fast, Learn Faster: On-Board RL for High Performance Autonomous Racing Benedict Hildisch Edoardo Ghignone Nicolas Baumann Cheng Hu Andrea Carron Michele Magno 29 0 0 12 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 26 0 0 12 May 2025
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real Prithwish Dan K. Kedia Angela Chao Edward Weiyi Duan Maximus Adrian Pace Wei-Chiu Ma Sanjiban Choudhury 23 0 0 11 May 2025
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 29 0 0 09 May 2025
DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition Yuki Kadokawa Jonas Frey Takahiro Miki Takamitsu Matsubara Marco Hutter 31 0 0 09 May 2025
Model-based controller assisted domain randomization in deep reinforcement learning: application to nonlinear powertrain control Heisei Yonezawa Ansei Yonezawa Itsuro Kajiwara 36 0 0 28 Apr 2025
Learning to Drive from a World Model Mitchell Goff Greg Hogan George Hotz Armand du Parc Locmaria Kacper Raczy Harald Schäfer Adeeb Shihadeh Weixing Zhang Yassine Yousfi 39 0 0 27 Apr 2025
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 78 1 0 23 Apr 2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang L. Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 59 4 0 31 Mar 2025
Reasoning in visual navigation of end-to-end trained agents: a dynamical systems approach Steeven Janny Hervé Poirier L. Antsfeld G. Bono G. Monaci Boris Chidlovskii Francesco Giuliari Alessio Del Bue Christian Wolf LM&Ro 53 0 0 11 Mar 2025
PoseLess: Depth-Free Vision-to-Joint Control via Direct Image Mapping with VLM Alan Dao Dinh Bach Vu Tuan Le Duc Anh Bui Quang Huy 41 0 0 10 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey Kun Zhang Peng Yun Jun Cen Junhao Cai DiDi Zhu ... Qifeng Chen Jia Pan Wei K. Zhang Bo Yang Hua Chen 59 1 0 05 Mar 2025
On Generalization Across Environments In Multi-Objective Reinforcement Learning Jayden Teoh Pradeep Varakantham Peter Vamplew OffRL 34 0 0 02 Mar 2025
A Simulation Pipeline to Facilitate Real-World Robotic Reinforcement Learning Applications Jefferson Silveira Joshua A. Marshall Sidney N. Givigi Jr 60 0 0 24 Feb 2025
Efficiently Solving Discounted MDPs with Predictions on Transition Matrices Lixing Lyu Jiashuo Jiang Wang Chi Cheung 40 1 0 24 Feb 2025
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch Zhengrong Xue H. Zhang Jin Cheng Zhengmao He Yuanchen Ju Chan-Yu Lin Gu Zhang Huazhe Xu OffRL 88 9 0 20 Feb 2025
Robotic Table Tennis: A Case Study into a High Speed Learning System David B. DÁmbrosio Jonathan Abelian Saminda Abeyruwan Michael Ahn Alex Bewley ... Vikas Sindhwani Avi Singh Vincent Vanhoucke Grace Vesom Peng-Tao Xu 60 13 0 20 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Y. Li 92 0 0 12 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 70 2 0 04 Feb 2025
Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning Kaixi Bao Chenhao Li Yarden As Andreas Krause Marco Hutter OffRL CLL 114 1 0 03 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Y. Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 82 10 0 03 Feb 2025
Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigation Ziyang Xie Zhizheng Liu Zhenghao Peng Wayne Wu Bolei Zhou VGen 48 3 0 12 Jan 2025
Visual-Based Forklift Learning System Enabling Zero-Shot Sim2Real Without Real-World Data Koshi Oishi Teruki Kato Hiroya Makino Seigo Ito OffRL 97 0 0 16 Dec 2024
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 96 1 0 16 Dec 2024
CROPS: A Deployable Crop Management System Over All Possible State Availabilities Jing Wu Zhixin Lai Shengjie Liu Suiyao Chen Ran Tao Pan Zhao Chuyuan Tao Yikun Cheng N. Hovakimyan OffRL 41 0 0 09 Nov 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 38 3 0 29 Oct 2024
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments Jumman Hossain Emon Dey Snehalraj Chugh Masud Ahmed MS Anwar ... Adrienne Raglin Carl E. Busart T. Gregory Anuradha Ravi Nirmalya Roy 26 0 0 22 Oct 2024
Feedback Favors the Generalization of Neural ODEs Jindou Jia Zihan Yang Meng Wang Kexin Guo Jianfei Yang Xiang Yu Lei Guo OOD AI4CE 37 2 0 14 Oct 2024
Control-oriented Clustering of Visual Latent Representation Han Qi Haocheng Yin Heng Yang SSL 50 2 0 07 Oct 2024
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance Kin Man Lee Sean Ye Qingyu Xiao Zixuan Wu Z. Zaidi David B. DÁmbrosio Pannag R. Sanketi Matthew Gombolay 72 1 0 23 Sep 2024
Autonomous Driving at Unsignalized Intersections: A Review of Decision-Making Challenges and Reinforcement Learning-Based Solutions Mohammad K. Al-Sharman Luc Edes Bert Sun Vishal Jayakumar Mohamed A. Daoud Derek Rayside W. Melek 26 1 0 20 Sep 2024
Decentralized and Asymmetric Multi-Agent Learning in Construction Sites Yakov Miron Dan Navon Yuval Goldfracht Dotan Di Castro Itzik Klein 32 0 0 16 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 31 2 0 13 Sep 2024
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion Nico Bohlinger Grzegorz Czechmanowski Maciej Krupka Piotr Kicki Krzysztof Walas Jan Peters Davide Tateo 42 12 0 10 Sep 2024
Simplex-enabled Safe Continual Learning Machine H. Cao Y. Mao Yihao Cai L. Sha Marco Caccamo 33 3 0 05 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 44 8 0 08 Aug 2024
Achieving Human Level Competitive Robot Table Tennis David B. DÁmbrosio Saminda Abeyruwan L. Graesser Atil Iscen H. B. Amor ... Vikas Sindhwani Vincent Vanhoucke Grace Vesom P. Xu Pannag R. Sanketi 92 14 0 07 Aug 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 36 13 0 02 Jul 2024
Reinforcement Learning for Efficient Design and Control Co-optimisation of Energy Systems Marine Cauz Adrien Bolland Nicolas Wyrsch Christophe Ballif 37 0 0 28 Jun 2024
Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery Paul Maria Scheikl E. Tagliabue B. Gyenes M. Wagner Diego DallÁlba Paolo Fiorini Franziska Mathis-Ullrich MedIm 39 47 0 10 Jun 2024
Efficient Recurrent Off-Policy RL Requires a Context-Encoder-Specific Learning Rate Fan Luo Zuolin Tu Zefang Huang Yang Yu OffRL 34 0 0 24 May 2024
Cross-Domain Policy Adaptation by Capturing Representation Mismatch Jiafei Lyu Chenjia Bai Jingwen Yang Zongqing Lu Xiu Li 28 8 0 24 May 2024
An Efficient Learning Control Framework With Sim-to-Real for String-Type Artificial Muscle-Driven Robotic Systems Jiyue Tao Yunsong Zhang S. Rajendran Feitian Zhang 29 0 0 17 May 2024
Contrastive Representation for Data Filtering in Cross-Domain Offline Reinforcement Learning Xiaoyu Wen Chenjia Bai Kang Xu Xudong Yu Yang Zhang Xuelong Li Zhen Wang 36 2 0 10 May 2024
Explicit Lipschitz Value Estimation Enhances Policy Robustness Against Perturbation Xulin Chen Ruipeng Liu Garret E. Katz 42 0 0 22 Apr 2024
Agile and versatile bipedal robot tracking control through reinforcement learning Jiayi Li Linqi Ye Yi Cheng Houde Liu Bin Liang 28 1 0 12 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 34 34 0 08 Apr 2024
Skill Transfer and Discovery for Sim-to-Real Learning: A Representation-Based Viewpoint Haitong Ma Zhaolin Ren Bo Dai Na Li 32 1 0 07 Apr 2024
Distributionally Robust Reinforcement Learning with Interactive Data Collection: Fundamental Hardness and Near-Optimal Algorithm Miao Lu Han Zhong Tong Zhang Jose H. Blanchet OffRL OOD 73 4 0 04 Apr 2024
Learning Based NMPC Adaptation for Autonomous Driving using Parallelized Digital Twin Jean Pierre Allamaa Panagiotis Patrinos H. Auweraer Tong Duy Son 23 0 0 26 Feb 2024