Augmenting Differentiable Simulators with Neural Networks to Close the
Sim2Real Gap

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

12 July 2020

Gaurav Sukhatme

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Papers citing "Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap"

14 / 14 papers shown

Title
Automated Creation of Digital Cousins for Robust Policy Learning Tianyuan Dai Josiah Wong Yunfan Jiang Chen Wang Cem Gokmen Ruohan Zhang Jiajun Wu Li Fei-Fei 113 28 0 09 Oct 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 100 27 0 16 May 2024
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 80 21 0 06 Dec 2023
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning Wei-Cheng Huang Alp Aydinoglu Wanxin Jin Michael Posa 104 4 0 15 Oct 2023
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales Minh Q. Ta H. Dinkel H. Abdul-Rashid Yangfei Dai Jessica Myers Tan Chen Junyi Geng Timothy Bretl 57 0 0 12 Oct 2023
Auto-Differentiation of Relational Computations for Very Large Scale Machine Learning Yu-Shuen Tang Zhimin Ding Dimitrije Jankov Binhang Yuan Daniel Bourgeois C. Jermaine BDL 95 6 0 31 May 2023
Differentiable Physics Simulations with Contacts: Do They Have Correct Gradients w.r.t. Position, Velocity and Control? Yaofeng Desmond Zhong Jiequn Han Georgia Olympia Brikis 102 19 0 08 Jul 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics Sizhe Li Zhiao Huang Tao Du Hao Su J. Tenenbaum Chuang Gan 63 27 0 05 May 2022
Model Based Meta Learning of Critics for Policy Gradients Sarah Bechtle Ludovic Righetti Franziska Meier OffRL 45 0 0 05 Apr 2022
A Differentiable Newton-Euler Algorithm for Real-World Robotics M. Lutter Vallijah Subasri Joe Watson Frank Rudzicz 80 7 0 24 Oct 2021
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad) J. Collins Ross Brown Jurgen Leitner David Howard AI4CE 64 4 0 10 Sep 2021
Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact Keenon Werling Dalton Omens Jeongseok Lee Ionnis Exarchos Chenxi Liu PINN 83 82 0 30 Mar 2021
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop Sebastian Hofer Kostas Bekris Ankur Handa Juan Camilo Gamboa Florian Golemo ... Chenxi Liu Jan Peters Shuran Song Peter Welinder M. White 78 53 0 07 Dec 2020
Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots Kun Wang Mridul Aanjaneya Kostas Bekris 85 15 0 10 Nov 2020