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 / 258 papers shown

Title
A Geometric Perspective on Self-Supervised Policy Adaptation Cristian Bodnar Karol Hausman Gabriel Dulac-Arnold Rico Jonschkowski SSL 23 5 0 14 Nov 2020
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics Carolyn Matl Yashraj S. Narang D. Fox R. Bajcsy F. Ramos 15 19 0 05 Nov 2020
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion Zhaoming Xie Xingye Da M. van de Panne Buck Babich Animesh Garg 20 84 0 04 Nov 2020
On the Transfer of Disentangled Representations in Realistic Settings Andrea Dittadi Frederik Trauble Francesco Locatello M. Wuthrich Vaibhav Agrawal Ole Winther Stefan Bauer Bernhard Schölkopf OOD 30 80 0 27 Oct 2020
Robust Constrained Reinforcement Learning for Continuous Control with Model Misspecification D. Mankowitz D. A. Calian Rae Jeong Cosmin Paduraru N. Heess Sumanth Dathathri Martin Riedmiller Timothy A. Mann 16 11 0 20 Oct 2020
CAD2Real: Deep learning with domain randomization of CAD data for 3D pose estimation of electronic control unit housings Simon Baeuerle Jonas Barth Elton Renato Tavares de Menezes Andreas Steimer Ralf Mikut 3DPC 6 0 0 25 Sep 2020
A soft robot that adapts to environments through shape change Dylan S. Shah Joshua P. Powers Liana G. Tilton Sam Kriegman Josh Bongard Rebecca Kramer‐Bottiglio 13 143 0 14 Aug 2020
Robust Reinforcement Learning using Adversarial Populations Eugene Vinitsky Yuqing Du Kanaad Parvate Kathy Jang Pieter Abbeel Alexandre M. Bayen AAML 38 79 0 04 Aug 2020
KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation En Yen Puang K. P. Tee Wei Jing 3DPC 19 42 0 28 Jul 2020
Data-efficient visuomotor policy training using reinforcement learning and generative models Ali Ghadirzadeh Petra Poklukar Ville Kyrki Danica Kragic Mårten Björkman OffRL 36 9 0 26 Jul 2020
Self-Supervised Policy Adaptation during Deployment Nicklas Hansen Rishabh Jangir Yu Sun Guillem Alenyà Pieter Abbeel Alexei A. Efros Lerrel Pinto Xiaolong Wang 30 159 0 08 Jul 2020
Learning to Transfer Dynamic Models of Underactuated Soft Robotic Hands Liam Schramm A. Sintov Abdeslam Boularias 15 6 0 21 May 2020
How to Close Sim-Real Gap? Transfer with Segmentation! Mengyuan Yan Qingyun Sun I. Frosio Stephen Tyree Jan Kautz 12 10 0 14 May 2020
Context-aware Dynamics Model for Generalization in Model-Based Reinforcement Learning Kimin Lee Younggyo Seo Seunghyun Lee Honglak Lee Jinwoo Shin 35 124 0 14 May 2020
First return, then explore Adrien Ecoffet Joost Huizinga Joel Lehman Kenneth O. Stanley Jeff Clune 38 348 0 27 Apr 2020
A Sensorized Multicurved Robot Finger with Data-driven Touch Sensing via Overlapping Light Signals Pedro Piacenza Keith Behrman Benedikt D. Schifferer Ioannis Kymissis M. Ciocarlie SyDa 17 45 0 01 Apr 2020
Learning to Fly via Deep Model-Based Reinforcement Learning Philip Becker-Ehmck Maximilian Karl Jan Peters Patrick van der Smagt SSL 29 37 0 19 Mar 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 31 13 0 05 Mar 2020
Traversing the Reality Gap via Simulator Tuning J. Collins Ross Brown Jurgen Leitner David Howard 36 14 0 03 Mar 2020
Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning Xingyou Song Yuxiang Yang K. Choromanski Ken Caluwaerts Wenbo Gao Chelsea Finn Jie Tan 109 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 18 7 0 07 Feb 2020
Sim2Real2Sim: Bridging the Gap Between Simulation and Real-World in Flexible Object Manipulation Peng Chang T. Padır 6 40 0 06 Feb 2020
EventGAN: Leveraging Large Scale Image Datasets for Event Cameras A. Z. Zhu ZiYun Wang Kaung Khant Kostas Daniilidis GAN 28 44 0 03 Dec 2019
Multi-Vehicle Mixed-Reality Reinforcement Learning for Autonomous Multi-Lane Driving Rupert Mitchell Jenny Fletcher Jacopo Panerati Amanda Prorok 22 17 0 26 Nov 2019
Attention-Privileged Reinforcement Learning Sasha Salter Dushyant Rao Markus Wulfmeier R. Hadsell Ingmar Posner 23 8 0 19 Nov 2019
Learning Fast Adaptation with Meta Strategy Optimization Wenhao Yu Jie Tan Yunfei Bai Erwin Coumans Sehoon Ha 17 92 0 28 Sep 2019
RLBench: The Robot Learning Benchmark & Learning Environment Stephen James Z. Ma David Rovick Arrojo Andrew J. Davison SSL VLM OffRL 28 523 0 26 Sep 2019
Wasserstein Robust Reinforcement Learning Mohammed Abdullah Hang Ren Haitham Bou-Ammar Vladimir Milenkovic Rui Luo Mingtian Zhang Jun Wang 24 75 0 30 Jul 2019
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks Michelle A. Lee Yuke Zhu Peter Zachares Matthew Tan K. Srinivasan Silvio Savarese Fei-Fei Li Animesh Garg Jeannette Bohg SSL 20 207 0 28 Jul 2019
Assessing Transferability from Simulation to Reality for Reinforcement Learning Fabio Muratore Michael Gienger Jan Peters 17 61 0 10 Jul 2019
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms Oliver Kroemer S. Niekum G. Konidaris 24 355 0 06 Jul 2019
Proximal Reliability Optimization for Reinforcement Learning Narendra Patwardhan Zequn Wang 11 0 0 03 Jun 2019
The Principle of Unchanged Optimality in Reinforcement Learning Generalization A. Irpan Xingyou Song OffRL 22 7 0 02 Jun 2019
Active Domain Randomization Bhairav Mehta Manfred Diaz Florian Golemo C. Pal Liam Paull 13 256 0 09 Apr 2019
Risk Averse Robust Adversarial Reinforcement Learning Xinlei Pan Daniel Seita Yang Gao John F. Canny AAML 13 96 0 31 Mar 2019
Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking Siqi Zhou Andriy Sarabakha Erdal Kayacan M. Helwa Angela P. Schoellig 33 13 0 30 Mar 2019
Informed Machine Learning -- A Taxonomy and Survey of Integrating Knowledge into Learning Systems Laura von Rueden S. Mayer Katharina Beckh B. Georgiev Sven Giesselbach ... Rajkumar Ramamurthy Michal Walczak Jochen Garcke Christian Bauckhage Jannis Schuecker 34 626 0 29 Mar 2019
Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors Artem Molchanov Tao Chen Wolfgang Hönig James A. Preiss Nora Ayanian Gaurav Sukhatme 24 107 0 11 Mar 2019
Sim-to-Real Transfer for Biped Locomotion Wenhao Yu Visak C. V. Kumar Greg Turk C. Karen Liu 9 114 0 04 Mar 2019
Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals Fan Fei Zhan Tu Yilun Yang Jian Zhang Xinyan Deng 20 32 0 25 Feb 2019
DIViS: Domain Invariant Visual Servoing for Collision-Free Goal Reaching Fereshteh Sadeghi 13 28 0 18 Feb 2019
Action Robust Reinforcement Learning and Applications in Continuous Control Chen Tessler Yonathan Efroni Shie Mannor 14 229 0 26 Jan 2019
Zero-shot Deep Reinforcement Learning Driving Policy Transfer for Autonomous Vehicles based on Robust Control Zhuo Xu Chen Tang M. Tomizuka OffRL 16 34 0 07 Dec 2018
Rigorous Agent Evaluation: An Adversarial Approach to Uncover Catastrophic Failures Junhui Yin Jiayan Qiu Csaba Szepesvári Siqing Zhang Avraham Ruderman Jiyang Xie Krishnamurthy Dvijotham Zhanyu Ma N. Heess Pushmeet Kohli AAML 13 80 0 04 Dec 2018
Deep Semantic Instance Segmentation of Tree-like Structures Using Synthetic Data Marco Stricker Olivier Augereau Stephen Moore 3DPC 13 11 0 08 Nov 2018
Policy Transfer with Strategy Optimization Wenhao Yu C. Karen Liu Greg Turk 27 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 D. Fox 6 498 0 12 Oct 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 15 1,852 0 01 Aug 2018
Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias Abhinav Gupta Adithyavairavan Murali Dhiraj Gandhi Lerrel Pinto 6 151 0 18 Jul 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 17 154 0 06 Jul 2018