PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation

5 December 2023

Papers citing "PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation"

20 / 20 papers shown

Title
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision Ashvin Nair Brian Zhu Gokul Narayanan Eugen Solowjow Sergey Levine OffRL OnRL 107 16 0 27 Oct 2022
Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World Liang Xie Hongxiang Yu Yinghao Zhao Haodong Zhang Zhongxiang Zhou Minhang Wang Yue Wang R. Xiong 63 10 0 16 Apr 2022
InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory Input Oren Spector Vladimir Tchuiev Dotan Di Castro 81 24 0 02 Mar 2022
Offline Meta-Reinforcement Learning for Industrial Insertion Tony Zhao Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute N. Heess Jonathan Scholz S. Schaal Sergey Levine OffRL OnRL 75 82 0 08 Oct 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 180 1,087 0 24 Aug 2021
Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spaces Eugene Valassakis Norman Di Palo Edward Johns 65 17 0 24 May 2021
InsertionNet -- A Scalable Solution for Insertion Oren Spector Dotan Di Castro 59 52 0 29 Apr 2021
Auto-Tuned Sim-to-Real Transfer Yuqing Du Olivia Watkins Trevor Darrell Pieter Abbeel Deepak Pathak 77 73 0 15 Apr 2021
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements Daolin Ma Siyuan Dong Alberto Rodriguez 56 55 0 15 Mar 2021
Fast robust peg-in-hole insertion with continuous visual servoing R. Haugaard Jeppe Langaa Christoffer Sloth A. Buch 57 32 0 12 Nov 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 86 163 0 24 Aug 2020
Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks Gerrit Schoettler Ashvin Nair J. A. Ojea Sergey Levine Eugen Solowjow OffRL OnRL 61 87 0 29 Apr 2020
Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization M. Kaspar J. D. M. Osorio J. Bock 67 100 0 19 Feb 2020
Transferable Force-Torque Dynamics Model for Peg-in-hole Task Junfeng Ding Chen Wang Cewu Lu 39 18 0 30 Nov 2019
Contact Skill Imitation Learning for Robot-Independent Assembly Programming Stefanie Scherzinger A. Rönnau Rüdiger Dillmann 42 29 0 17 Aug 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 50 192 0 13 Jun 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 75 175 0 04 Mar 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 91 508 0 12 Oct 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 114 1,367 0 18 Oct 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 262 2,973 0 20 Mar 2017