Residual Reinforcement Learning for Robot Control

7 December 2018

Papers citing "Residual Reinforcement Learning for Robot Control"

50 / 202 papers shown

Title
Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge Takuma Yoneda Charles B. Schaff Takahiro Maeda Matthew R. Walter 28 14 0 08 Jan 2021
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions Guanya Shi Wolfgang Hönig Xichen Shi Yisong Yue Soon-Jo Chung 29 70 0 10 Dec 2020
Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents Joanne Truong Sonia Chernova Dhruv Batra 33 55 0 24 Nov 2020
Learning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks with Base Controllers Guangming Wang Minjian Xin Wenhua Wu Zhe Liu Hesheng Wang OffRL 8 18 0 24 Nov 2020
Parrot: Data-Driven Behavioral Priors for Reinforcement Learning Avi Singh Huihan Liu G. Zhou Albert Yu Nicholas Rhinehart Sergey Levine OffRL OnRL 30 138 0 19 Nov 2020
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation Xingyu Lin Yufei Wang Jake Olkin David Held 32 210 0 14 Nov 2020
Learning Task Space Actions for Bipedal Locomotion Helei Duan Jeremy Dao Kevin R. Green Taylor Apgar Alan Fern J. Hurst 6 45 0 09 Nov 2020
Sample-efficient Reinforcement Learning in Robotic Table Tennis Jonas Tebbe Lukas Krauch Yapeng Gao A. Zell 9 33 0 06 Nov 2020
Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations using Generative Models Yuchen Wu Melissa Mozifian Florian Shkurti 31 21 0 02 Nov 2020
Learning Sequences of Manipulation Primitives for Robotic Assembly N. Vuong H. Pham Quang-Cuong Pham 6 26 0 02 Nov 2020
Learning Vision-based Reactive Policies for Obstacle Avoidance Elie Aljalbout Ji Chen Konstantin Ritt Maximilian Ulmer Sami Haddadin 11 21 0 30 Oct 2020
High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards Kai Ploeger M. Lutter Jan Peters 22 29 0 26 Oct 2020
Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot Yunlei Shi Zhaopeng Chen Hongxu Liu Sebastian Riedel Chunhui Gao Qian Feng Jun Deng Jianwei Zhang 13 14 0 25 Oct 2020
Learning Dexterous Manipulation from Suboptimal Experts Rae Jeong Jost Tobias Springenberg Jackie Kay Daniel Zheng Yuxiang Zhou Alexandre Galashov N. Heess F. Nori OffRL 18 36 0 16 Oct 2020
FOCAL: Efficient Fully-Offline Meta-Reinforcement Learning via Distance Metric Learning and Behavior Regularization Lanqing Li Rui Yang Dijun Luo OffRL 27 10 0 02 Oct 2020
Human-in-the-Loop Methods for Data-Driven and Reinforcement Learning Systems Vinicius G. Goecks 22 11 0 30 Aug 2020
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach C. C. Beltran-Hernandez Damien Petit I. Ramirez-Alpizar Kensuke Harada OffRL 32 158 0 24 Aug 2020
Adaptive and Multiple Time-scale Eligibility Traces for Online Deep Reinforcement Learning Taisuke Kobayashi OffRL 18 7 0 23 Aug 2020
Residual Learning from Demonstration: Adapting DMPs for Contact-rich Manipulation Todor Davchev K. Luck Michael G. Burke Franziska Meier S. Schaal S. Ramamoorthy 34 48 0 18 Aug 2020
Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics Eugene Valassakis Zihan Ding Edward Johns 8 43 0 15 Aug 2020
Physics-Based Dexterous Manipulations with Estimated Hand Poses and Residual Reinforcement Learning Guillermo Garcia-Hernando Edward Johns Tae-Kyun Kim 3DH 6 68 0 07 Aug 2020
Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed Giovanni Sutanto Katharina Rombach Yevgen Chebotar Zhe Su S. Schaal Gaurav Sukhatme Franziska Meier 8 5 0 29 Jun 2020
Combining Model-Based and Model-Free Methods for Nonlinear Control: A Provably Convergent Policy Gradient Approach Guannan Qu Chenkai Yu S. Low Adam Wierman 6 19 0 12 Jun 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 15 60 0 21 May 2020
Learning natural locomotion behaviors for humanoid robots using human knowledge Chuanyu Yang Kai Yuan Shuai Heng Taku Komura Zhibin Li 9 38 0 20 May 2020
Human Instruction-Following with Deep Reinforcement Learning via Transfer-Learning from Text Felix Hill Soňa Mokrá Nathaniel Wong Tim Harley LM&Ro 24 81 0 19 May 2020
Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks Gerrit Schoettler Ashvin Nair J. A. Ojea Sergey Levine Eugen Solowjow OffRL OnRL 20 88 0 29 Apr 2020
Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC) Eugen Solowjow I. Ugalde Yash Shahapurkar Juan Aparicio Jeffrey Mahler V. Satish Ken Goldberg Heiko Claussen 27 21 0 21 Apr 2020
Residual Policy Learning for Shared Autonomy Charles B. Schaff Matthew R. Walter 9 39 0 10 Apr 2020
Modelling and Learning Dynamics for Robotic Food-Cutting Ioanna Mitsioni Y. Karayiannidis Danica Kragic 9 8 0 20 Mar 2020
Compensation for undefined behaviors during robot task execution by switching controllers depending on embedded dynamics in RNN Kanata Suzuki Hiroki Mori T. Ogata 19 11 0 10 Mar 2020
Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions Guanya Shi Wolfgang Hönig Yisong Yue Soon-Jo Chung 58 65 0 06 Mar 2020
PPMC RL Training Algorithm: Rough Terrain Intelligent Robots through Reinforcement Learning Tamir Blum Kazuya Yoshida 12 7 0 02 Mar 2020
Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots C. C. Beltran-Hernandez Damien Petit I. Ramirez-Alpizar T. Nishi S. Kikuchi Takamitsu Matsubara Kensuke Harada 17 2 0 02 Mar 2020
BRPO: Batch Residual Policy Optimization Kentaro Kanamori Yinlam Chow Takuya Takagi Hiroki Arimura Honglak Lee Ken Kobayashi Craig Boutilier OffRL 139 46 0 08 Feb 2020
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts Gilwoo Lee Brian Hou Sanjiban Choudhury S. Srinivasa BDL OffRL 31 7 0 07 Feb 2020
Side-Tuning: A Baseline for Network Adaptation via Additive Side Networks Jeffrey O. Zhang Alexander Sax Amir Zamir Leonidas J. Guibas Jitendra Malik 28 28 0 31 Dec 2019
Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies Visak C. V. Kumar Tucker Hermans Dieter Fox Stan Birchfield Jonathan Tremblay 21 14 0 21 Nov 2019
Learning Hierarchical Control for Robust In-Hand Manipulation Tingguang Li K. Srinivasan Max Q.-H. Meng Wenzhen Yuan Jeannette Bohg 13 41 0 24 Oct 2019
MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics M. Barekatain Ryo Yonetani Masashi Hamaya 32 26 0 28 Sep 2019
Residual Reactive Navigation: Combining Classical and Learned Navigation Strategies For Deployment in Unknown Environments Krishan Rana Ben Talbot Vibhavari Dasagi Michael Milford Niko Sünderhauf 17 21 0 24 Sep 2019
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers Andrey Kurenkov Ajay Mandlekar R. M. Martin Silvio Savarese Animesh Garg 6 48 0 09 Sep 2019
A Comparison of Action Spaces for Learning Manipulation Tasks Patrick Varin Lev Grossman S. Kuindersma 20 34 0 23 Aug 2019
TuneNet: One-Shot Residual Tuning for System Identification and Sim-to-Real Robot Task Transfer Adam Allevato Elaine Schaertl Short Mitch Pryor A. Thomaz 35 53 0 25 Jul 2019
Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards Gerrit Schoettler Ashvin Nair Jianlan Luo Shikhar Bahl J. A. Ojea Eugen Solowjow Sergey Levine OffRL 18 191 0 13 Jun 2019
Differentiable Algorithm Networks for Composable Robot Learning Peter Karkus Xiao Ma David Hsu L. Kaelbling Wee Sun Lee Tomas Lozano-Perez 14 70 0 28 May 2019
Control Regularization for Reduced Variance Reinforcement Learning Richard Cheng Abhinav Verma G. Orosz Swarat Chaudhuri Yisong Yue J. W. Burdick OffRL 12 76 0 14 May 2019
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics Andy Zeng Shuran Song Johnny Lee Alberto Rodriguez Thomas Funkhouser 37 375 0 27 Mar 2019
Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly Jianlan Luo Eugen Solowjow Chengtao Wen J. A. Ojea A. Agogino Aviv Tamar Pieter Abbeel 16 169 0 04 Mar 2019
Sample Complexity of Estimating the Policy Gradient for Nearly Deterministic Dynamical Systems Osbert Bastani 14 4 0 24 Jan 2019