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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
PI-QT-Opt: Predictive Information Improves Multi-Task Robotic Reinforcement Learning at Scale Kuang-Huei Lee Ted Xiao A. Li Paul Wohlhart Ian S. Fischer Yao Lu 120 10 0 15 Oct 2022
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps Wisdom C. Agboh Satvik Sharma Kishore Srinivas Mallika Parulekar Gaurav Datta Tianshuang Qiu Jeffrey Ichnowski Eugen Solowjow M. Dogar Ken Goldberg 70 12 0 13 Oct 2022
Visual Reinforcement Learning with Self-Supervised 3D Representations Yanjie Ze Nicklas Hansen Yinbo Chen Mohit Jain Xiaolong Wang SSL 81 52 0 13 Oct 2022
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields Arunkumar Byravan Jan Humplik Leonard Hasenclever Arthur Brussee F. Nori ... Ben Moran Steven Bohez Fereshteh Sadeghi Bojan Vujatovic N. Heess 160 57 0 10 Oct 2022
A Real2Sim2Real Method for Robust Object Grasping with Neural Surface Reconstruction Luobin Wang Runlin Guo Q. Vuong Yuzhe Qin Hao Su Henrik I. Christensen 3DH 3DPC 83 19 0 06 Oct 2022
Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 159 6 0 02 Oct 2022
The Role of Time Delay in Sim2real Transfer of Reinforcement Learning for Cyber-Physical Systems Mohamad Chehadeh I. Boiko Yahya Zweiri 108 1 0 30 Sep 2022
Focused Adaptation of Dynamics Models for Deformable Object Manipulation Peter Mitrano A. LaGrassa Oliver Kroemer Dmitry Berenson AI4CE 80 12 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 84 3 0 24 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 156 67 0 12 Sep 2022
Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter Alexander Schperberg Yusuke Tanaka Feng Xu Marcel Menner Dennis W. Hong 77 5 0 07 Sep 2022
A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning Laura M. Smith Ilya Kostrikov Sergey Levine OffRL 73 105 0 16 Aug 2022
Cyclic Policy Distillation: Sample-Efficient Sim-to-Real Reinforcement Learning with Domain Randomization Y. Kadokawa Lingwei Zhu Yoshihisa Tsurumine Takamitsu Matsubara 60 8 0 29 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 94 41 0 21 Jul 2022
i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops Saminda Abeyruwan L. Graesser David B. DÁmbrosio Avi Singh Anish Shankar Alex Bewley Deepali Jain K. Choromanski Pannag R Sanketi 133 51 0 14 Jul 2022
Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning Mhairi Dunion Trevor A. McInroe K. Luck Josiah P. Hanna Stefano V. Albrecht OOD DRL 81 18 0 12 Jul 2022
"Curse of rarity" for autonomous vehicles Henry X. Liu Shuo Feng 74 63 0 06 Jul 2022
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments P. JishnuJaykumar Yu-Wei Chao Yu Xiang 70 11 0 06 Jul 2022
Online vs. Offline Adaptive Domain Randomization Benchmark Gabriele Tiboni Karol Arndt Giuseppe Averta Ville Kyrki Tatiana Tommasi OffRL 51 5 0 29 Jun 2022
When to Trust Your Simulator: Dynamics-Aware Hybrid Offline-and-Online Reinforcement Learning Haoyi Niu Shubham Sharma Yiwen Qiu Ming Li Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL 136 52 0 27 Jun 2022
A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality A. Elmquist Aaron Young Ishaan Mahajan Kyle Fahey Abhiraj Dashora ... Stefan Caldararu Victor Freire Xiangru Xu R. Serban Dan Negrut 36 14 0 14 Jun 2022
Multifidelity Reinforcement Learning with Control Variates Sami Khairy Prasanna Balaprakash OffRL 71 5 0 10 Jun 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 120 82 0 07 May 2022
Goldilocks-curriculum Domain Randomization and Fractal Perlin Noise with Application to Sim2Real Pneumonia Lesion Detection Takahiro Suzuki S. Hanaoka Issei Sato OOD MedIm 66 1 0 29 Apr 2022
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid Shimpei Masuda K. Takahashi 68 7 0 08 Apr 2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects Priya Sundaresan Rika Antonova Jeannette Bohg 3DPC 110 37 0 07 Apr 2022
Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks Changhao Wang Yuyou Zhang Xiang Zhang Zheng Wu Xinghao Zhu Shiyu Jin Te Tang Masayoshi Tomizuka OffRL AI4CE 70 54 0 28 Mar 2022
One After Another: Learning Incremental Skills for a Changing World Nur Muhammad (Mahi) Shafiullah Lerrel Pinto CLL 76 13 0 21 Mar 2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting Eric Heiden Miles Macklin Yashraj S. Narang Dieter Fox Animesh Garg Fabio Ramos 107 11 0 19 Mar 2022
Context is Everything: Implicit Identification for Dynamics Adaptation Ben Evans Abitha Thankaraj Lerrel Pinto 70 20 0 10 Mar 2022
AutoDIME: Automatic Design of Interesting Multi-Agent Environments I. Kanitscheider Harrison Edwards 58 0 0 04 Mar 2022
A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data Kun Wang Mridul Aanjaneya Kostas Bekris 85 7 0 28 Feb 2022
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 71 9 0 23 Feb 2022
Robust Reinforcement Learning via Genetic Curriculum Yeeho Song J. Schneider 71 9 0 17 Feb 2022
Learning to Ground Objects for Robot Task and Motion Planning Yan Ding Xiaohan Zhang Xingyue Zhan Shiqi Zhang 38 8 0 14 Feb 2022
Uncertainty Aware System Identification with Universal Policies B. L. Semage Thommen George Karimpanal Santu Rana Svetha Venkatesh 105 3 0 11 Feb 2022
Fast Model-based Policy Search for Universal Policy Networks B. L. Semage Thommen George Karimpanal Santu Rana Svetha Venkatesh 77 1 0 11 Feb 2022
Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization Jeongmin Lee Minji Lee Dongjun Lee AI4CE 72 4 0 23 Jan 2022
DROPO: Sim-to-Real Transfer with Offline Domain Randomization Gabriele Tiboni Karol Arndt Ville Kyrki 61 28 0 20 Jan 2022
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees Kai Hsu Allen Z. Ren D. Nguyen Anirudha Majumdar J. F. Fisac OffRL 107 46 0 20 Jan 2022
Using Simulation Optimization to Improve Zero-shot Policy Transfer of Quadrotors Sven Gronauer Matthias Kissel L. Sacchetto Mathias Korte Klaus Diepold 59 6 0 04 Jan 2022
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations Henry M. Clever Ankur Handa H. Mazhar Kevin Parker Omer Shapira Qian Wan Yashraj S. Narang Iretiayo Akinola Maya Cakmak Dieter Fox 78 18 0 09 Dec 2021
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation Rika Antonova Jingyun Yang Priya Sundaresan Dieter Fox Fabio Ramos Jeannette Bohg 96 19 0 09 Dec 2021
Distilled Domain Randomization J. Brosseit Benedikt Hahner Fabio Muratore Michael Gienger Jan Peters 40 4 0 06 Dec 2021
Real-World Dexterous Object Manipulation based Deep Reinforcement Learning Qingfeng Yao Jilong Wang Shuyu Yang DRL 34 1 0 22 Nov 2021
Planar Robot Casting with Real2Sim2Real Self-Supervised Learning Vincent Lim Huang Huang Lawrence Yunliang Chen Jonathan Wang Jeffrey Ichnowski Daniel Seita Michael Laskey Ken Goldberg SSL 181 66 0 08 Nov 2021
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks K. Luck Roberto Calandra M. Mistry AI4CE 84 3 0 03 Nov 2021
Robot Learning from Randomized Simulations: A Review Fabio Muratore Fabio Ramos Greg Turk Wenhao Yu Michael Gienger Jan Peters AI4CE 119 83 0 01 Nov 2021
Can Q-Learning be Improved with Advice? Noah Golowich Ankur Moitra OffRL 153 13 0 25 Oct 2021
Unsupervised Domain Adaptation with Dynamics-Aware Rewards in Reinforcement Learning Jinxin Liu Hao Shen Donglin Wang Yachen Kang Qiangxing Tian 85 19 0 25 Oct 2021