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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience

12 October 2018

Papers citing "Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience"

50 / 296 papers shown

Title
Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Zhuang Lei Jingdong Zhao 100 2 0 21 Dec 2023
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 82 21 0 06 Dec 2023
PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation Geonhyup Lee Joosoon Lee Sangjun Noh Minhwan Ko Kangmin Kim Kyoobin Lee 79 4 0 05 Dec 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 108 14 0 13 Nov 2023
Learning Agile Bipedal Motions on a Quadrupedal Robot Yunfei Li Jinhan Li Wei Fu Yi Wu 108 10 0 10 Nov 2023
Exploitation-Guided Exploration for Semantic Embodied Navigation Justin Wasserman Girish Chowdhary Abhinav Gupta Unnat Jain 87 4 0 06 Nov 2023
Staged Reinforcement Learning for Complex Tasks through Decomposed Environments Rafael Pina Corentin Artaud Xiaolan Liu V. D. Silva 51 1 0 05 Nov 2023
Domain Randomization via Entropy Maximization Gabriele Tiboni Pascal Klink Jan Peters Tatiana Tommasi Carlo DÉramo Georgia Chalvatzaki 94 17 0 03 Nov 2023
Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots Xavi Puig Eric Undersander Andrew Szot Mikael Dallaire Cote Tsung-Yen Yang ... Singh Chaplot Unnat Jain Dhruv Batra †. AksharaRai †. RoozbehMottaghi 86 132 0 19 Oct 2023
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning Tianle Huang Nitish Sontakke K. N. Kumar Irfan Essa Stefanos Nikolaidis Dennis W. Hong Sehoon Ha 57 4 0 16 Oct 2023
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning Xiang Zhang Changhao Wang Lingfeng Sun Zheng Wu Xinghao Zhu Masayoshi Tomizuka OffRL 81 25 0 16 Oct 2023
Learning Generalizable Agents via Saliency-Guided Features Decorrelation Sili Huang Yanchao Sun Jifeng Hu Siyuan Guo Hechang Chen Yi-Ju Chang Lichao Sun Bo Yang 74 6 0 08 Oct 2023
Identifying the Risks of LM Agents with an LM-Emulated Sandbox Yangjun Ruan Honghua Dong Andrew Wang Silviu Pitis Yongchao Zhou Jimmy Ba Yann Dubois Chris J. Maddison Tatsunori Hashimoto LLMAG ELM 78 124 0 25 Sep 2023
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 115 1 0 25 Sep 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 117 9 0 22 Sep 2023
Real-to-Sim Deformable Object Manipulation: Optimizing Physics Models with Residual Mappings for Robotic Surgery Xiao Liang Fei Liu Yutong Zhang Yuelei Li Shan Lin Michael C. Yip AI4CE 100 11 0 20 Sep 2023
Seeing is not Believing: Robust Reinforcement Learning against Spurious Correlation Wenhao Ding Laixi Shi Yuejie Chi Ding Zhao OOD 105 21 0 15 Jul 2023
Polybot: Training One Policy Across Robots While Embracing Variability Jonathan Yang Dorsa Sadigh Chelsea Finn 80 39 0 07 Jul 2023
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation Annie Xie Lisa Lee Ted Xiao Chelsea Finn 84 62 0 07 Jul 2023
$RObotic MAnipulation Network (ROMAN) $\unicode{x2013}$ Hybrid Hierarchical Learning for Solving Complex Sequential Tasks$ RObotic MAnipulation Network (ROMAN) $\unicode{x2013}$ Hybrid Hierarchical Learning for Solving Complex Sequential Tasks Eleftherios Triantafyllidis Fernando Acero Zhaocheng Liu Zhibin Li 93 0 0 30 Jun 2023
What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery Peide Huang Xilun Zhang Ziang Cao Shiqi Liu Mengdi Xu Wenhao Ding Jonathan M Francis Bingqing Chen Ding Zhao 113 25 0 28 Jun 2023
Deep Predictive Learning: Motion Learning Concept inspired by Cognitive Robotics Kanata Suzuki Hiroshi Ito Tatsuro Yamada Kei Kase Tetsuya Ogata 75 12 0 26 Jun 2023
A Transferability Metric Using Scene Similarity and Local Map Observation for DRL Navigation Shiwei Lian Feitian Zhang 66 2 0 08 Jun 2023
Learning to Simulate Tree-Branch Dynamics for Manipulation Jayadeep Jacob T. Bandyopadhyay Jason L. Williams Paulo Borges Fabio Ramos AI4CE 64 5 0 06 Jun 2023
Efficient Deep Learning of Robust Policies from MPC using Imitation and Tube-Guided Data Augmentation Andrea Tagliabue Jonathan P. How 75 9 0 01 Jun 2023
Cross-Domain Policy Adaptation via Value-Guided Data Filtering Kang Xu Chenjia Bai Xiaoteng Ma Dong Wang Bingyan Zhao Zhen Wang Xuelong Li Wei Li 94 18 0 28 May 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer Bohan Wu Roberto Martin-Martin Li Fei-Fei 89 12 0 23 May 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim 100 96 0 22 May 2023
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training Aleksei Petrenko Arthur Allshire Gavriel State Ankur Handa Viktor Makoviychuk 93 24 0 20 May 2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators Alexander Herzog Kanishka Rao Karol Hausman Yao Lu Paul Wohlhart ... Noah Brown Mrinal Kalakrishnan Julian Ibarz P. Pastor Sergey Levine OffRL 93 27 0 05 May 2023
A Platform-Agnostic Deep Reinforcement Learning Framework for Effective Sim2Real Transfer in Autonomous Driving Dian-Tao Li Ostap Okhrin 104 6 0 14 Apr 2023
GINA-3D: Learning to Generate Implicit Neural Assets in the Wild Bokui Shen Xinchen Yan C. Qi Mahyar Najibi Boyang Deng Leonidas Guibas Yin Zhou Drago Anguelov 3DV 98 21 0 04 Apr 2023
Synthetic-to-Real Domain Adaptation for Action Recognition: A Dataset and Baseline Performances Arun V. Reddy Ketul Shah William Paul Rohita Mocharla Judy Hoffman Kapil D. Katyal Dinesh Manocha Celso M. de Melo Ramalingam Chellappa 81 19 0 17 Mar 2023
Residual Physics Learning and System Identification for Sim-to-real Transfer of Policies on Buoyancy Assisted Legged Robots Nitish Sontakke Hosik Chae S. Lee Tianle Huang Dennis W. Hong Sehoon Ha 103 10 0 16 Mar 2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum Yunbo Zhang Alexander Clegg Sehoon Ha Greg Turk Yuting Ye 106 10 0 14 Mar 2023
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots Gabriele Tiboni Andrea Protopapa Tatiana Tommasi Giuseppe Averta 44 5 0 07 Mar 2023
Programmatic Imitation Learning from Unlabeled and Noisy Demonstrations Jimmy Xin Linus Zheng Kia Rahmani Jiayi Wei Jarrett Holtz Işıl Dillig Joydeep Biswas 82 1 0 02 Mar 2023
Learning to Control Autonomous Fleets from Observation via Offline Reinforcement Learning Carolin Schmidt Daniele Gammelli Francisco Câmara Pereira Filipe Rodrigues OffRL 77 5 0 28 Feb 2023
Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach Wenxing Liu Hanlin Niu Wei Pan G. Herrmann J. Carrasco 105 7 0 26 Feb 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 87 15 0 09 Feb 2023
Zero-shot Sim2Real Adaptation Across Environments B. L. Semage Thommen George Karimpanal Santu Rana Svetha Venkatesh 70 1 0 08 Feb 2023
NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning Haoran Li Shasha Liu Mingjun Ma Guangzheng Hu Yaran Chen Dong Zhao 93 3 0 07 Feb 2023
Simulate Less, Expect More: Bringing Robot Swarms to Life via Low-Fidelity Simulations Ricardo Vega Kevin A. Zhu S. Luke Maryam Parsa Cameron Nowzari 30 5 0 21 Jan 2023
Benchmarks and Algorithms for Offline Preference-Based Reward Learning Daniel Shin Anca Dragan Daniel S. Brown OffRL 85 56 0 03 Jan 2023
Pre-Trained Image Encoder for Generalizable Visual Reinforcement Learning Zhecheng Yuan Zhengrong Xue Bo Yuan Xueqian Wang Yi Wu Yang Gao Huazhe Xu SSL OffRL 110 74 0 17 Dec 2022
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 114 21 0 15 Dec 2022
Phone2Proc: Bringing Robust Robots Into Our Chaotic World Matt Deitke Rose Hendrix Luca Weihs Ali Farhadi Kiana Ehsani Aniruddha Kembhavi LM&Ro 93 17 0 08 Dec 2022
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering A. Elmquist Aaron Young Thomas Hansen Sriram Ashokkumar Stefan Caldararu ... Luning Fang Henghua Shen Xiangru Xu R. Serban Dan Negrut 93 21 0 09 Nov 2022
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly Yunsheng Tian Jie Xu Yichen Li Jieliang Luo Shinjiro Sueda Hui Li Karl D. D. Willis Wojciech Matusik 81 19 0 08 Nov 2022
Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection Catherine R. Glossop Jacopo Panerati A. Krishnan Zhaocong Yuan Angela P. Schoellig 76 6 0 27 Oct 2022