Preparing for the Unknown: Learning a Universal Policy with Online System Identification

8 February 2017

Wenhao Yu

Jie Tan

Papers citing "Preparing for the Unknown: Learning a Universal Policy with Online System Identification"

44 / 94 papers shown

Title
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad) J. Collins Ross Brown Jurgen Leitner David Howard AI4CE 32 4 0 10 Sep 2021
DR2L: Surfacing Corner Cases to Robustify Autonomous Driving via Domain Randomization Reinforcement Learning Haoyi Niu Jianming Hu Zheyu Cui Jianming Hu 36 16 0 25 Jul 2021
RMA: Rapid Motor Adaptation for Legged Robots Ashish Kumar Zipeng Fu Deepak Pathak Jitendra Malik 25 552 0 08 Jul 2021
AdaRL: What, Where, and How to Adapt in Transfer Reinforcement Learning Erdun Gao Fan Feng Chaochao Lu Sara Magliacane Kun Zhang 44 66 0 06 Jul 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model Zhaoming Xie Xingye Da Buck Babich Animesh Garg M. van de Panne 26 66 0 20 Apr 2021
Auto-Tuned Sim-to-Real Transfer Yuqing Du Olivia Watkins Trevor Darrell Pieter Abbeel Deepak Pathak 27 69 0 15 Apr 2021
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies Timothy E. Lee Jialiang Zhao A. Sawhney Siddharth Girdhar Oliver Kroemer CML 29 32 0 31 Mar 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections Yashraj S. Narang Balakumar Sundaralingam Miles Macklin Arsalan Mousavian Dieter Fox 30 58 0 31 Mar 2021
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned Julian Ibarz Jie Tan Chelsea Finn Mrinal Kalakrishnan P. Pastor Sergey Levine OffRL 18 520 0 04 Feb 2021
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang Tingnan Zhang Daniel Ho Yunfei Bai Chenxi Liu Sergey Levine Jie Tan GAN 26 54 0 15 Jan 2021
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings Joanne Truong Denis Yarats Tianyu Li Franziska Meier Sonia Chernova Dhruv Batra Akshara Rai 23 20 0 24 Nov 2020
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing Zhuo Xu Wenhao Yu Alexander Herzog Wenlong Lu Chuyuan Fu Masayoshi Tomizuka Yunfei Bai Chenxi Liu Daniel Ho OffRL 27 17 0 23 Nov 2020
One Solution is Not All You Need: Few-Shot Extrapolation via Structured MaxEnt RL Saurabh Kumar Aviral Kumar Sergey Levine Chelsea Finn OffRL 16 90 0 27 Oct 2020
CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning Ossama Ahmed Frederik Trauble Anirudh Goyal Alexander Neitz Yoshua Bengio Bernhard Schölkopf M. Wuthrich Stefan Bauer CML 39 120 0 08 Oct 2020
Modular Transfer Learning with Transition Mismatch Compensation for Excessive Disturbance Rejection Tianming Wang Wenjie Lu H. Yu Dikai Liu 41 1 0 29 Jul 2020
Context-aware Dynamics Model for Generalization in Model-Based Reinforcement Learning Kimin Lee Younggyo Seo Seunghyun Lee Honglak Lee Jinwoo Shin 45 125 0 14 May 2020
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines Kun Wang Mridul Aanjaneya Kostas Bekris PINN 12 21 0 28 Apr 2020
Balance Between Efficient and Effective Learning: Dense2Sparse Reward Shaping for Robot Manipulation with Environment Uncertainty Yongle Luo Kun Dong Lili Zhao Zhiyong Sun Chao Zhou Bo Song 34 13 0 05 Mar 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 114 79 0 02 Mar 2020
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts Gilwoo Lee Brian Hou Sanjiban Choudhury S. Srinivasa BDL OffRL 37 7 0 07 Feb 2020
Single Episode Policy Transfer in Reinforcement Learning Jiachen Yang Brenden K. Petersen H. Zha Daniel Faissol OOD OffRL 33 33 0 17 Oct 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 28 93 0 28 Sep 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
Assessing Transferability from Simulation to Reality for Reinforcement Learning Fabio Muratore Michael Gienger Jan Peters 19 61 0 10 Jul 2019
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators Ian Abraham Todd D. Murphey 24 160 0 12 Jun 2019
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions Zhenjia Xu Jiajun Wu Andy Zeng J. Tenenbaum Shuran Song AI4CE 15 111 0 10 Jun 2019
The Principle of Unchanged Optimality in Reinforcement Learning Generalization A. Irpan Xingyou Song OffRL 33 7 0 02 Jun 2019
Sim-to-Real Transfer for Biped Locomotion Wenhao Yu Visak C. V. Kumar Greg Turk Chenxi Liu 12 114 0 04 Mar 2019
Robust and Adaptive Planning under Model Uncertainty Apoorva Sharma James Harrison Matthew W. Tsao Marco Pavone 11 15 0 09 Jan 2019
Mid-Level Visual Representations Improve Generalization and Sample Efficiency for Learning Visuomotor Policies Alexander Sax Bradley Emi Amir Zamir Leonidas J. Guibas Silvio Savarese Jitendra Malik SSL 39 16 0 31 Dec 2018
Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks Stephen James Paul Wohlhart Mrinal Kalakrishnan Dmitry Kalashnikov A. Irpan Julian Ibarz Sergey Levine R. Hadsell Konstantinos Bousmalis 46 444 0 18 Dec 2018
Zero-shot Deep Reinforcement Learning Driving Policy Transfer for Autonomous Vehicles based on Robust Control Zhuo Xu Chen Tang Masayoshi Tomizuka OffRL 27 35 0 07 Dec 2018
Hardware Conditioned Policies for Multi-Robot Transfer Learning Tao Chen Adithyavairavan Murali Abhinav Gupta 21 102 0 24 Nov 2018
Assessing Generalization in Deep Reinforcement Learning Charles Packer Katelyn Gao Jernej Kos Philipp Krahenbuhl V. Koltun D. Song OffRL 18 233 0 29 Oct 2018
Policy Transfer with Strategy Optimization Wenhao Yu Chenxi Liu Greg Turk 38 80 0 12 Oct 2018
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 10 500 0 12 Oct 2018
Fast Motion Planning for High-DOF Robot Systems Using Hierarchical System Identification Biao Jia Zherong Pan Tianyi Zhou 16 5 0 21 Sep 2018
Learning Dexterous In-Hand Manipulation OpenAI OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafal Jozefowicz ... Szymon Sidor Joshua Tobin Peter Welinder Lilian Weng Wojciech Zaremba 47 1,857 0 01 Aug 2018
A survey on policy search algorithms for learning robot controllers in a handful of trials Konstantinos Chatzilygeroudis Vassilis Vassiliades F. Stulp Sylvain Calinon Jean-Baptiste Mouret 17 155 0 06 Jul 2018
Graph networks as learnable physics engines for inference and control Alvaro Sanchez-Gonzalez N. Heess Jost Tobias Springenberg J. Merel Martin Riedmiller R. Hadsell Peter W. Battaglia GNN AI4CE PINN OCL 42 595 0 04 Jun 2018
Learning Awareness Models Brandon Amos Laurent Dinh Serkan Cabi Thomas Rothörl Sergio Gomez Colmenarejo Alistair Muldal Tom Erez Yuval Tassa Nando de Freitas Misha Denil 29 44 0 17 Apr 2018
Sim2Real View Invariant Visual Servoing by Recurrent Control Fereshteh Sadeghi Alexander Toshev Eric Jang Sergey Levine 19 98 0 20 Dec 2017
Fast Model Identification via Physics Engines for Data-Efficient Policy Search Shaojun Zhu A. Kimmel Kostas E. Bekris Abdeslam Boularias 31 14 0 24 Oct 2017
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 67 1,345 0 18 Oct 2017