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 / 266 papers shown

Title
RL-PGO: Reinforcement Learning-based Planar Pose-Graph Optimization Nikolaos Kourtzanidis Sajad Saeedi 31 2 0 26 Feb 2022
Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion Gwanghyeon Ji Juhyeok Mun Hyeongjun Kim Jemin Hwangbo 11 134 0 11 Feb 2022
Approximating Gradients for Differentiable Quality Diversity in Reinforcement Learning Bryon Tjanaka Matthew C. Fontaine Julian Togelius S. Nikolaidis 30 50 0 08 Feb 2022
Learning from Imperfect Demonstrations via Adversarial Confidence Transfer Zhangjie Cao Zihan Wang Dorsa Sadigh AAML 24 7 0 07 Feb 2022
Learning Interpretable, High-Performing Policies for Autonomous Driving Rohan R. Paleja Yaru Niu Andrew Silva Chace Ritchie Sugju Choi Matthew C. Gombolay 19 16 0 04 Feb 2022
GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems Bhavya Sukhija M. Turchetta David Lindner Andreas Krause Sebastian Trimpe Dominik Baumann 26 17 0 24 Jan 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization Jeongmin Lee Minji Lee Dongjun Lee AI4CE 20 4 0 23 Jan 2022
Zero-Shot Uncertainty-Aware Deployment of Simulation Trained Policies on Real-World Robots Krishan Rana Vibhavari Dasagi Jesse Haviland Ben Talbot Michael Milford Niko Sünderhauf 24 1 0 10 Dec 2021
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 21 72 0 03 Dec 2021
$Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control$ Improving the Robustness of Reinforcement Learning Policies with $\mathcal{L}_{1}$ Adaptive Control Y. Cheng Penghui Zhao F. Wang D. Block N. Hovakimyan 44 8 0 03 Dec 2021
A Survey of Robot Manipulation in Contact Markku Suomalainen Y. Karayiannidis Ville Kyrki 28 109 0 03 Dec 2021
Bridging the reality gap in quantum devices with physics-aware machine learning D. L. Craig H. Moon F. Fedele D. Lennon B. V. Straaten ... D. Zumbuhl G. Briggs Michael A. Osborne D. Sejdinovic N. Ares 20 13 0 22 Nov 2021
Learning suction graspability considering grasp quality and robot reachability for bin-picking Ping Jiang J. Oaki Yoshiyuki Ishihara J. Ooga Haifeng Han A. Sugahara S. Tokura Haruna Eto Kazuma Komoda Akihito Ogawa 23 18 0 04 Nov 2021
Validate on Sim, Detect on Real -- Model Selection for Domain Randomization Gal Leibovich Guy Jacob Shadi Endrawis Gal Novik Aviv Tamar 17 7 0 01 Nov 2021
Efficient Robotic Manipulation Through Offline-to-Online Reinforcement Learning and Goal-Aware State Information Jin Li Xianyuan Zhan Zixu Xiao Guyue Zhou OffRL OnRL 27 2 0 21 Oct 2021
Collaborating with Humans without Human Data D. Strouse Kevin R. McKee M. Botvinick Edward Hughes Richard Everett 124 161 0 15 Oct 2021
Stabilizing Dynamical Systems via Policy Gradient Methods Juan C. Perdomo Jack Umenberger Max Simchowitz 30 44 0 13 Oct 2021
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World Laura M. Smith J. Kew Xue Bin Peng Sehoon Ha Jie Tan Sergey Levine 15 99 0 11 Oct 2021
Robotic Lever Manipulation using Hindsight Experience Replay and Shapley Additive Explanations Sindre Benjamin Remman A. Lekkas 23 14 0 07 Oct 2021
Understanding Domain Randomization for Sim-to-real Transfer Xiaoyu Chen Jiachen Hu Chi Jin Lihong Li Liwei Wang 24 112 0 07 Oct 2021
Solving the Real Robot Challenge using Deep Reinforcement Learning Robert McCarthy Francisco Roldan Sanchez Qiang Wang David Córdova Bulens Kevin McGuinness Noel E. O'Connor S. Redmond 24 11 0 30 Sep 2021
Discovering State and Action Abstractions for Generalized Task and Motion Planning Aidan Curtis Tom Silver J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 33 27 0 23 Sep 2021
Self-supervised Tumor Segmentation through Layer Decomposition Xiaoman Zhang Weidi Xie Chaoqin Huang Yanfeng Wang Ya-Qin Zhang Xin Chen Qi Tian 29 5 0 07 Sep 2021
Towards Out-Of-Distribution Generalization: A Survey Jiashuo Liu Zheyan Shen Yue He Xingxuan Zhang Renzhe Xu Han Yu Peng Cui CML OOD 52 516 0 31 Aug 2021
Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration Chen Wang Claudia Pérez-DÁrpino Danfei Xu Li Fei-Fei C. Karen Liu Silvio Savarese 42 33 0 13 Aug 2021
Generalization in Multimodal Language Learning from Simulation Aaron Eisermann Jae Hee Lee C. Weber S. Wermter 25 9 0 03 Aug 2021
DR2L: Surfacing Corner Cases to Robustify Autonomous Driving via Domain Randomization Reinforcement Learning Haoyi Niu Jianming Hu Zheyu Cui Yi Zhang 34 16 0 25 Jul 2021
Deep Learning based Food Instance Segmentation using Synthetic Data Deokhwan Park Joosoon Lee Junseok Lee Kyoobin Lee SSeg 17 22 0 15 Jul 2021
Why Generalization in RL is Difficult: Epistemic POMDPs and Implicit Partial Observability Dibya Ghosh Jad Rahme Aviral Kumar Amy Zhang Ryan P. Adams Sergey Levine OffRL 272 109 0 13 Jul 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 18 548 0 08 Jul 2021
Evaluating the progress of Deep Reinforcement Learning in the real world: aligning domain-agnostic and domain-specific research J. Luis E. Crawley B. Cameron OffRL 25 6 0 07 Jul 2021
Learning from scarce information: using synthetic data to classify Roman fine ware pottery Santos J. Núñez Jareño Daniël P. van Helden Evgeny M. Mirkes I. Tyukin Penelope Allison 37 5 0 03 Jul 2021
Learning to See before Learning to Act: Visual Pre-training for Manipulation Yen-Chen Lin Andy Zeng Shuran Song Phillip Isola Tsung-Yi Lin SSL 16 87 0 01 Jul 2021
Stabilizing Deep Q-Learning with ConvNets and Vision Transformers under Data Augmentation Nicklas Hansen H. Su Xiaolong Wang OffRL 26 133 0 01 Jul 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd D. Murphey 27 70 0 25 Jun 2021
A Survey on Human-aware Robot Navigation Ronja Möller Antonino Furnari S. Battiato Aki Härmä G. Farinella 41 87 0 22 Jun 2021
SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policies Linxi Fan Guanzhi Wang De-An Huang Zhiding Yu Li Fei-Fei Yuke Zhu Anima Anandkumar OffRL 15 62 0 17 Jun 2021
Two-stage training algorithm for AI robot soccer Taeyoung Kim L. Vecchietti Kyujin Choi Sanem Sariel Dongsoo Har 21 6 0 13 Apr 2021
Understanding Continual Learning Settings with Data Distribution Drift Analysis Timothée Lesort Massimo Caccia Irina Rish 25 55 0 04 Apr 2021
Classification of Seeds using Domain Randomization on Self-Supervised Learning Frameworks Venkat Margapuri Michael L. Neilsen 8 7 0 29 Mar 2021
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization Carmel Rabinovitz Niko A. Grupen Aviv Tamar OOD SSL 22 3 0 20 Mar 2021
Combining Pessimism with Optimism for Robust and Efficient Model-Based Deep Reinforcement Learning Sebastian Curi Ilija Bogunovic Andreas Krause 31 17 0 18 Mar 2021
TeachMyAgent: a Benchmark for Automatic Curriculum Learning in Deep RL Clément Romac Rémy Portelas Katja Hofmann Pierre-Yves Oudeyer 27 21 0 17 Mar 2021
Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning Guillaume Bellegarda Yiyu Chen Zhuochen Liu Quan Nguyen 32 44 0 11 Mar 2021
Maximum Entropy RL (Provably) Solves Some Robust RL Problems Benjamin Eysenbach Sergey Levine OOD 24 174 0 10 Mar 2021
Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms Ali Ghadirzadeh Xi Chen Petra Poklukar Chelsea Finn Mårten Björkman Danica Kragic BDL 31 41 0 05 Mar 2021
Generalizing to Unseen Domains: A Survey on Domain Generalization Jindong Wang Cuiling Lan Chang-Shu Liu Yidong Ouyang Tao Qin Wang Lu Yiqiang Chen Wenjun Zeng Philip S. Yu OOD 54 1,170 0 02 Mar 2021
Embodied Intelligence via Learning and Evolution Agrim Gupta Silvio Savarese Surya Ganguli Li Fei-Fei AI4CE 22 230 0 03 Feb 2021
Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge Takuma Yoneda Charles B. Schaff Takahiro Maeda Matthew R. Walter 23 14 0 08 Jan 2021
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation Thomas Bi Carmelo Sferrazza Raffaello DÁndrea 99 35 0 07 Jan 2021