v1v2 (latest)

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

21 July 2022

Papers citing "Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation"

44 / 44 papers shown

Title
CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos Xinhao Liu Jiajian Li Yichen Jiang Niranjan Sujay Zhiyong Yang Juexiao Zhang John Abanes Jing Zhang Chen Feng 146 2 0 26 Nov 2024
Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale Ram Ramrakhya Eric Undersander Dhruv Batra Abhishek Das LM&Ro 118 117 0 07 Apr 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 131 710 0 20 Jan 2022
Coupling Vision and Proprioception for Navigation of Legged Robots Zipeng Fu Ashish Kumar Ananye Agarwal Haozhi Qi Jitendra Malik Deepak Pathak 70 78 0 03 Dec 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 242 577 0 24 Sep 2021
Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI Santhosh Kumar Ramakrishnan Aaron Gokaslan Erik Wijmans Oleksandr Maksymets Alexander Clegg ... Andrew Westbury Angel X. Chang Manolis Savva Yili Zhao Dhruv Batra 85 385 0 16 Sep 2021
SORNet: Spatial Object-Centric Representations for Sequential Manipulation Wentao Yuan Chris Paxton Karthik Desingh Dieter Fox 3DPC 176 72 0 08 Sep 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 166 576 0 08 Jul 2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat Andrew Szot Alexander Clegg Eric Undersander Erik Wijmans Yili Zhao ... Z. Kira V. Koltun Jitendra Malik Manolis Savva Dhruv Batra LM&Ro 104 518 0 28 Jun 2021
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation C. Freeman Erik Frey Anton Raichuk Sertan Girgin Igor Mordatch Olivier Bachem 108 375 0 24 Jun 2021
Fast and Efficient Locomotion via Learned Gait Transitions Yuxiang Yang Tingnan Zhang Erwin Coumans Jie Tan Byron Boots 56 92 0 09 Apr 2021
Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation Naoki Yokoyama Sehoon Ha Dhruv Batra 58 29 0 14 Mar 2021
Learning a State Representation and Navigation in Cluttered and Dynamic Environments David Hoeller Lorenz Wellhausen Farbod Farshidian Marco Hutter SSL 57 78 0 07 Mar 2021
Efficient and Interpretable Robot Manipulation with Graph Neural Networks Yixin Lin Austin S. Wang Eric Undersander Akshara Rai LM&Ro 123 44 0 25 Feb 2021
Bi-directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents Joanne Truong Sonia Chernova Dhruv Batra 53 55 0 24 Nov 2020
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings Joanne Truong Denis Yarats Tianyu Li Franziska Meier Sonia Chernova Dhruv Batra Akshara Rai 55 21 0 24 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 139 1,171 0 21 Oct 2020
Integrated Task and Motion Planning Caelan Reed Garrett Rohan Chitnis Rachel Holladay Beomjoon Kim Tom Silver L. Kaelbling Tomás Lozano-Pérez 100 501 0 02 Oct 2020
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion Tianyu Li Roberto Calandra Deepak Pathak Yuandong Tian Franziska Meier Akshara Rai 55 30 0 27 Aug 2020
ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation Chuang Gan Jeremy Schwartz S. Alter Damian Mrowca Martin Schrimpf ... Antonio Torralba J. DiCarlo J. Tenenbaum Josh H. McDermott Daniel L. K. Yamins VGen 141 311 0 09 Jul 2020
RoboTHOR: An Open Simulation-to-Real Embodied AI Platform Matt Deitke Winson Han Alvaro Herrasti Aniruddha Kembhavi Eric Kolve ... Eli VanderBilt Matthew Wallingford Luca Weihs Mark Yatskar Ali Farhadi LM&Ro 96 237 0 14 Apr 2020
Learning to Explore using Active Neural SLAM Devendra Singh Chaplot Dhiraj Gandhi Saurabh Gupta Abhinav Gupta Ruslan Salakhutdinov 62 514 0 10 Apr 2020
Learning Agile Robotic Locomotion Skills by Imitating Animals Xue Bin Peng Erwin Coumans Tingnan Zhang T. Lee Jie Tan Sergey Levine 118 505 0 02 Apr 2020
SAPIEN: A SimulAted Part-based Interactive ENvironment Fanbo Xiang Yuzhe Qin Kaichun Mo Yikuan Xia Hao Zhu ... He Wang Li Yi Angel X. Chang Leonidas Guibas Hao Su 281 506 0 19 Mar 2020
DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames Erik Wijmans Abhishek Kadian Ari S. Morcos Stefan Lee Irfan Essa Devi Parikh Manolis Savva Dhruv Batra 85 478 0 01 Nov 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 80 93 0 28 Sep 2019
Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning Tianyu Li Nathan Lambert Roberto Calandra Franziska Meier Akshara Rai 73 40 0 26 Sep 2019
RLBench: The Robot Learning Benchmark & Learning Environment Stephen James Z. Ma David Rovick Arrojo Andrew J. Davison SSL VLM OffRL 109 553 0 26 Sep 2019
Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real Ofir Nachum Michael Ahn Hugo Ponte S. Gu Vikash Kumar 56 90 0 13 Aug 2019
PyRobot: An Open-source Robotics Framework for Research and Benchmarking Adithyavairavan Murali Tao Chen Kalyan Vasudev Alwala Dhiraj Gandhi Lerrel Pinto Saurabh Gupta Abhinav Gupta 50 108 0 19 Jun 2019
Habitat: A Platform for Embodied AI Research Manolis Savva Abhishek Kadian Oleksandr Maksymets Yili Zhao Erik Wijmans ... Jia-Wei Liu V. Koltun Jitendra Malik Devi Parikh Dhruv Batra LM&Ro 115 1,407 0 02 Apr 2019
Combining Optimal Control and Learning for Visual Navigation in Novel Environments Somil Bansal Varun Tolani Saurabh Gupta Jitendra Malik Claire Tomlin 55 164 0 06 Mar 2019
Learning Exploration Policies for Navigation Tao Chen Saurabh Gupta Abhinav Gupta EgoV 78 238 0 05 Mar 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 108 1,310 0 24 Jan 2019
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience Yevgen Chebotar Ankur Handa Viktor Makoviychuk Miles Macklin J. Issac Nathan D. Ratliff Dieter Fox 84 505 0 12 Oct 2018
Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped Tianyu Li Akshara Rai H. Geyer C. Atkeson 60 51 0 28 Sep 2018
Gibson Env: Real-World Perception for Embodied Agents F. Xia Amir Zamir Zhi-Yang He Alexander Sax Jitendra Malik Silvio Savarese AI4CE LM&Ro 79 824 0 31 Aug 2018
On Evaluation of Embodied Navigation Agents Peter Anderson Angel X. Chang Devendra Singh Chaplot Alexey Dosovitskiy Saurabh Gupta ... Jana Kosecka Jitendra Malik Roozbeh Mottaghi Manolis Savva Amir Zamir 117 798 0 18 Jul 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 91 804 0 27 Apr 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 107 1,364 0 18 Oct 2017
Matterport3D: Learning from RGB-D Data in Indoor Environments Angel X. Chang Angela Dai Thomas Funkhouser Maciej Halber Matthias Nießner Manolis Savva Shuran Song Andy Zeng Yinda Zhang 3DV 3DPC 189 1,901 0 18 Sep 2017
Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped Akshara Rai Rika Antonova Seungmoon Song William C. Martin H. Geyer C. Atkeson 61 73 0 18 Sep 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 253 2,966 0 20 Mar 2017
ShapeNet: An Information-Rich 3D Model Repository Angel X. Chang Thomas Funkhouser Leonidas Guibas Pat Hanrahan Qi-Xing Huang ... Shuran Song Hao Su Jianxiong Xiao L. Yi Feng Yu 3DV 162 5,530 0 09 Dec 2015