Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

18 October 2017

Pieter Abbeel

Papers citing "Sim-to-Real Transfer of Robotic Control with Dynamics Randomization"

50 / 261 papers shown

Title
Learning Based NMPC Adaptation for Autonomous Driving using Parallelized Digital Twin Jean Pierre Allamaa Panagiotis Patrinos H. Auweraer Tong Duy Son 23 0 0 26 Feb 2024
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation Jun Wang Yuzhe Qin Kaiming Kuang Yigit Korkmaz Akhilan Gurumoorthy Hao Su Xiaolong Wang 43 19 0 22 Feb 2024
Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control Zheng Xiong Risto Vuorio Jacob Beck Matthieu Zimmer Kun Shao Shimon Whiteson 36 1 0 09 Feb 2024
Learning to navigate efficiently and precisely in real environments G. Bono Hervé Poirier L. Antsfeld G. Monaci Boris Chidlovskii Christian Wolf 21 2 0 25 Jan 2024
Multi-Object Navigation in real environments using hybrid policies Assem Sadek G. Bono Boris Chidlovskii A. Baskurt Christian Wolf 45 5 0 24 Jan 2024
Bin-picking of novel objects through category-agnostic-segmentation: RGB matters Prem Raj S. Bhadang Gaurav Chaudhary Laxmidhar Behera Tushar Sandhan 36 1 0 27 Dec 2023
Curriculum Learning for Cooperation in Multi-Agent Reinforcement Learning R. Bhati S. Gottipati Clodéric Mars Matthew E. Taylor 37 0 0 19 Dec 2023
PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation Geonhyup Lee Joosoon Lee Sangjun Noh Minhwan Ko Kangmin Kim Kyoobin Lee 23 2 0 05 Dec 2023
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation? Kaylee Burns Zach Witzel Jubayer Ibn Hamid Tianhe Yu Chelsea Finn Karol Hausman OOD SSL 27 22 0 03 Nov 2023
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving Sean J. Wang Honghao Zhu Aaron M. Johnson 24 6 0 12 Oct 2023
Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain Kojiro Aoshima Martin Servin AI4CE 16 4 0 09 Oct 2023
LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving Hao Sha Yao Mu Yuxuan Jiang Li Chen Chenfeng Xu Ping Luo Shengbo Eben Li Masayoshi Tomizuka Wei Zhan Mingyu Ding 114 159 0 04 Oct 2023
AdaptNet: Policy Adaptation for Physics-Based Character Control Pei Xu Kaixiang Xie Sheldon Andrews P. Kry Michael Neff Morgan McGuire Ioannis Karamouzas Victor Zordan TTA 37 16 0 30 Sep 2023
HEROES: Unreal Engine-based Human and Emergency Robot Operation Education System A. Chaudhary Kshitij Tiwari Aniket Bera 15 1 0 25 Sep 2023
Machine Learning Meets Advanced Robotic Manipulation Saeid Nahavandi R. Alizadehsani D. Nahavandi Chee Peng Lim Kevin Kelly Fernando Bello 24 17 0 22 Sep 2023
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps Haoyi Niu Tianying Ji Bingqi Liu Haocheng Zhao Xiangyu Zhu Jianying Zheng Pengfei Huang Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL AI4CE 25 6 0 22 Sep 2023
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation Zheyuan Hu Aaron Rovinsky Jianlan Luo Vikash Kumar Abhishek Gupta Sergey Levine OffRL 14 9 0 06 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 25 17 0 06 Sep 2023
Distributionally Robust Model-based Reinforcement Learning with Large State Spaces Shyam Sundhar Ramesh Pier Giuseppe Sessa Yifan Hu Andreas Krause Ilija Bogunovic OOD 42 10 0 05 Sep 2023
Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Nico Gürtler Sebastian Blaes Pavel Kolev Felix Widmaier Manuel Wüthrich Stefan Bauer Bernhard Schölkopf Georg Martius OffRL 30 28 0 28 Jul 2023
Robust Visual Sim-to-Real Transfer for Robotic Manipulation Ricardo Garcia Pinel Robin Strudel Shizhe Chen Etienne Arlaud Ivan Laptev Cordelia Schmid OffRL 26 4 0 28 Jul 2023
On-Robot Bayesian Reinforcement Learning for POMDPs Hai V. Nguyen Sammie Katt Yuchen Xiao Chris Amato OffRL 18 1 0 22 Jul 2023
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation Annie Xie Lisa Lee Ted Xiao Chelsea Finn 23 54 0 07 Jul 2023
Model-Assisted Probabilistic Safe Adaptive Control With Meta-Bayesian Learning Shengbo Wang Ke Li Yin Yang Yuting Cao Tingwen Huang S. Wen 21 4 0 03 Jul 2023
DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Control M. Malmir Josip Josifovski Noah Klarmann Alois C. Knoll 26 2 0 15 Jun 2023
On the Efficacy of 3D Point Cloud Reinforcement Learning Z. Ling Yuan Yao Xuanlin Li H. Su 3DPC 31 13 0 11 Jun 2023
Safe Offline Reinforcement Learning with Real-Time Budget Constraints Qian Lin Bo Tang Zifan Wu Chao Yu Shangqin Mao Qianlong Xie Xingxing Wang Dong Wang OffRL 34 11 0 01 Jun 2023
Pento-DIARef: A Diagnostic Dataset for Learning the Incremental Algorithm for Referring Expression Generation from Examples P. Sadler David Schlangen 21 2 0 24 May 2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots Ken Caluwaerts Atil Iscen J. Kew Wenhao Yu Tingnan Zhang ... J. Seto Carolina Parada Vikas Sindhwani Vincent Vanhoucke Jie Tan 27 58 0 24 May 2023
Double Pessimism is Provably Efficient for Distributionally Robust Offline Reinforcement Learning: Generic Algorithm and Robust Partial Coverage Jose H. Blanchet Miao Lu Tong Zhang Han Zhong OffRL 42 29 0 16 May 2023
Approximate Shielding of Atari Agents for Safe Exploration Alexander W. Goodall Francesco Belardinelli 19 2 0 21 Apr 2023
Facilitating Sim-to-real by Intrinsic Stochasticity of Real-Time Simulation in Reinforcement Learning for Robot Manipulation Ram Dershan Amir M. Soufi Enayati Zengjie Zhang D. Richert H. Najjaran 30 3 0 12 Apr 2023
Unified Emulation-Simulation Training Environment for Autonomous Cyber Agents Li Li Jean-Pierre S. El Rami Adrian Taylor James Hailing Rao T. Kunz 11 4 0 03 Apr 2023
Deep Reinforcement Learning for Localizability-Enhanced Navigation in Dynamic Human Environments Yuán Chen Quecheng Qiu Xiangyu Liu Guangda Chen Shunyi Yao Jie Peng Jianmin Ji Yanyong Zhang 22 0 0 22 Mar 2023
HazardNet: Road Debris Detection by Augmentation of Synthetic Models Tae Eun Choe Jane Wu Xiao-Hui Lin Karen Kwon Min-Gyu Park 32 3 0 14 Mar 2023
Domain Randomization for Robust, Affordable and Effective Closed-loop Control of Soft Robots Gabriele Tiboni Andrea Protopapa Tatiana Tommasi Giuseppe Averta 22 4 0 07 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik K. Sreenath 21 124 0 06 Mar 2023
Improved Sample Complexity Bounds for Distributionally Robust Reinforcement Learning Zaiyan Xu Kishan Panaganti D. Kalathil OOD OffRL 29 30 0 05 Mar 2023
Hindsight States: Blending Sim and Real Task Elements for Efficient Reinforcement Learning Simon Guist Jan Schneider-Barnes Alexander Dittrich V. Berenz Bernhard Schölkopf Dieter Buchler 21 3 0 03 Mar 2023
Towards Radar Emitter Recognition in Changing Environments with Domain Generalization Honglin Wu Xueqiong Li Long Lan Liyang Xu Yuhua Tang 19 0 0 18 Feb 2023
Reinforcement Learning in the Wild with Maximum Likelihood-based Model Transfer Hannes Eriksson D. Basu Tommy Tram Mina Alibeigi Christos Dimitrakakis 19 1 0 18 Feb 2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer Allen Z. Ren Hongkai Dai Benjamin Burchfiel Anirudha Majumdar 21 14 0 09 Feb 2023
NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning Haoran Li Shasha Liu Mingjun Ma Guangzheng Hu Yaran Chen Dong Zhao 22 3 0 07 Feb 2023
Optimal Transport Perturbations for Safe Reinforcement Learning with Robustness Guarantees James Queeney E. C. Ozcan I. Paschalidis Christos G. Cassandras OOD OffRL 29 5 0 31 Jan 2023
Risk-Averse Model Uncertainty for Distributionally Robust Safe Reinforcement Learning James Queeney M. Benosman OOD OffRL 33 5 0 30 Jan 2023
Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration Chao Yu Xinyi Yang Jiaxuan Gao Jiayu Chen Yunfei Li ... Yunfei Xiang Rui Huang Huazhong Yang Yi Wu Yu Wang 33 35 0 09 Jan 2023
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions Thom S. Badings Licio Romao Alessandro Abate David Parker Hasan A. Poonawala Marielle Stoelinga N. Jansen 32 36 0 04 Jan 2023
Benchmarks and Algorithms for Offline Preference-Based Reward Learning Daniel Shin Anca Dragan Daniel S. Brown OffRL 14 53 0 03 Jan 2023
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer Hang Lai Weinan Zhang Xialin He Chen Yu Zheng Tian Yong Yu Jun Wang 19 20 0 15 Dec 2022
CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning Zhao Mandi Homanga Bharadhwaj Vincent Moens Shuran Song Aravind Rajeswaran Vikash Kumar LM&Ro 28 68 0 12 Dec 2022