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A Practical Approach to Insertion with Variable Socket Position Using Deep Reinforcement Learning

2 October 2018

Papers citing "A Practical Approach to Insertion with Variable Socket Position Using Deep Reinforcement Learning"

50 / 63 papers shown

Title
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty Salma Mozaffari Daniel Ruan W. V. D. Bogert Nima Fazeli Sigrid Adriaenssens Arash Adel 48 0 0 21 Nov 2025
Reinforcement Learning for Robotic Insertion of Flexible Cables in Industrial Settings Jeongwoo Park Seabin Lee Changmin Park Wonjong Lee Changjoo Nam 79 0 0 17 Sep 2025
Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning Adrià López Escoriza Nicklas Hansen Stone Tao Tongzhou Mu H. Su OffRL 264 3 0 03 Mar 2025
Policy Decorator: Model-Agnostic Online Refinement for Large Policy ModelInternational Conference on Learning Representations (ICLR), 2024 Xiu Yuan Tongzhou Mu Stone Tao Yunhao Fang Mengke Zhang H. Su OffRL 363 22 0 18 Dec 2024
Modulating Reservoir Dynamics via Reinforcement Learning for Efficient Robot Skill Synthesis Zahra Koulaeizadeh Erhan Oztop 113 0 0 17 Nov 2024
Representation Alignment from Human Feedback for Cross-Embodiment Reward Learning from Mixed-Quality Demonstrations Connor Mattson Anurag Aribandi Daniel S. Brown 225 0 0 10 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under UncertaintyIEEE Robotics and Automation Letters (RA-L), 2024 Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 279 24 0 08 Aug 2024
DrS: Learning Reusable Dense Rewards for Multi-Stage Tasks Tongzhou Mu Minghua Liu Hao Su OffRL 210 7 0 25 Apr 2024
A versatile robotic hand with 3D perception, force sensing for autonomous manipulation N. Correll Dylan Kriegman Stephen Otto James Watson 69 7 0 08 Feb 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2024 Jianlan Luo Zheyuan Hu Charles Xu You Liang Tan Jacob Berg Archit Sharma S. Schaal Chelsea Finn Abhishek Gupta Sergey Levine OffRL OnRL 555 90 0 29 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 156 66 0 16 Jan 2024
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos Dieter Fox Yashraj S. Narang OffRL 205 77 0 26 May 2023
Teaching contact-rich tasks from visual demonstrations by constraint extraction C. Hegeler Filippo Rozzi L. Roveda Kevin Haninger 118 0 0 30 Mar 2023
Boosting Reinforcement Learning and Planning with Demonstrations: A Survey Tongzhou Mu H. Su OffRL 304 1 0 23 Mar 2023
Efficient Skill Acquisition for Complex Manipulation Tasks in Obstructed Environments Jun Yamada J. Collins Ingmar Posner 232 7 0 06 Mar 2023
Zero-Shot Transfer of Haptics-Based Object Insertion PoliciesIEEE International Conference on Robotics and Automation (ICRA), 2023 Samarth Brahmbhatt A. Deka Andrew Spielberg M. Muller 230 6 0 29 Jan 2023
Holo-Dex: Teaching Dexterity with Immersive Mixed RealityIEEE International Conference on Robotics and Automation (ICRA), 2022 Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 242 88 0 12 Oct 2022
Minimizing Human Assistance: Augmenting a Single Demonstration for Deep Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2022 Abraham George Alison Bartsch A. Farimani OffRL 194 7 0 22 Sep 2022
Reinforcement Learning for Vision-based Object Manipulation with Non-parametric Policy and Action PrimitivesIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021 Dongwon Son Myungsin Kim Jaecheol Sim Wonsik Shin 139 1 0 12 Jun 2022
Real2Sim or Sim2Real: Robotics Visual Insertion using Deep Reinforcement Learning and Real2Sim Policy AdaptationAnnual Meeting of the IEEE Industry Applications Society (IAS Annual Meeting), 2022 Yiwen Chen Xue-Yong Li Sheng Guo Xiang Yao Ng Marcelo H. Ang Jr 96 7 0 06 Jun 2022
Economical Precise Manipulation and Auto Eye-Hand Coordination with Binocular Visual Reinforcement Learning Yiwen Chen Shengchao Guo Zedong Zhang Lei Zhou Xiang Yao Ng Marcelo H. Ang Jr 129 0 0 12 May 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Lukasz Wawrzyniak Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 241 98 0 07 May 2022
A Primer on Maximum Causal Entropy Inverse Reinforcement Learning Adam Gleave Sam Toyer 147 18 0 22 Mar 2022
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial InsertionIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Rui Chen Chenxi Wang Tianhao Wei Changliu Liu 159 2 0 06 Mar 2022
InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory InputIEEE International Conference on Robotics and Automation (ICRA), 2022 Oren Spector Vladimir Tchuiev Dotan Di Castro 146 29 0 02 Mar 2022
Few-Shot Keypoint Detection as Task Adaptation via Latent Embeddings Mel Vecerík Jackie Kay R. Hadsell Lourdes Agapito Jonathan Scholz 177 3 0 09 Dec 2021
Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation Todor Davchev Oleg O. Sushkov Jean-Baptiste Regli S. Schaal Y. Aytar Markus Wulfmeier Jonathan Scholz 138 19 0 01 Dec 2021
Contact Information Flow and Design of Compliance Kevin Haninger M. Radke Richard Hartisch J. Krüger 156 7 0 24 Oct 2021
Offline Meta-Reinforcement Learning for Industrial InsertionIEEE International Conference on Robotics and Automation (ICRA), 2021 Tony Zhao Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute N. Heess Jonathan Scholz S. Schaal Sergey Levine OffRL OnRL 249 87 0 08 Oct 2021
Learning Dynamics Models for Model Predictive Agents M. Lutter Leonard Hasenclever Arunkumar Byravan Gabriel Dulac-Arnold Piotr Trochim N. Heess J. Merel Yuval Tassa AI4CE 180 29 0 29 Sep 2021
DCUR: Data Curriculum for Teaching via Samples with Reinforcement Learning Daniel Seita Abhinav Gopal Zhao Mandi John F. Canny OffRL OnRL 98 0 0 15 Sep 2021
A Study on Dense and Sparse (Visual) Rewards in Robot Policy LearningTowards Autonomous Robotic Systems (TAROS), 2021 A. Mohtasib Gerhard Neumann Heriberto Cuayáhuitl 114 17 0 06 Aug 2021
Aligning an optical interferometer with beam divergence control and continuous action spaceConference on Robot Learning (CoRL), 2021 Stepan Makarenko Dmitry Sorokin Alexander Ulanov A. Lvovsky AI4CE 87 4 0 09 Jul 2021
Neural Task Success Classifiers for Robotic Manipulation from Few Real Demonstrations A. Mohtasib Amir Ghalamzan Nicola Bellotto Heriberto Cuay´ahuitl 143 1 0 01 Jul 2021
XIRL: Cross-embodiment Inverse Reinforcement LearningConference on Robot Learning (CoRL), 2021 Kevin Zakka Andy Zeng Peter R. Florence Jonathan Tompson Jeannette Bohg Debidatta Dwibedi SSL 298 137 0 07 Jun 2021
InsertionNet -- A Scalable Solution for InsertionIEEE Robotics and Automation Letters (RA-L), 2021 Oren Spector Dotan Di Castro 134 61 0 29 Apr 2021
Learn Goal-Conditioned Policy with Intrinsic Motivation for Deep Reinforcement LearningAAAI Conference on Artificial Intelligence (AAAI), 2021 Jinxin Liu Xuetao Zhang Qiangxing Tian Ruihao Zhang 237 25 0 11 Apr 2021
Replacing Rewards with Examples: Example-Based Policy Search via Recursive ClassificationNeural Information Processing Systems (NeurIPS), 2021 Benjamin Eysenbach Sergey Levine Ruslan Salakhutdinov OffRL 322 52 0 23 Mar 2021
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute Wenzhao Lian Yan Yu Mel Vecerík Ning Ye S. Schaal Jonathan Scholz OffRL 291 69 0 21 Mar 2021
Interpreting Contact Interactions to Overcome Failure in Robot Assembly TasksIEEE International Conference on Robotics and Automation (ICRA), 2021 Peter Zachares Michelle A. Lee Wenzhao Lian Jeannette Bohg 219 19 0 07 Jan 2021
Offline Learning from Demonstrations and Unlabeled Experience Konrad Zolna Alexander Novikov Ksenia Konyushkova Çağlar Gülçehre Ziyun Wang Y. Aytar Misha Denil Nando de Freitas Scott E. Reed SSL OffRL 195 75 0 27 Nov 2020
Learning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks with Base ControllersIEEE Transactions on Neural Networks and Learning Systems (IEEE TNNLS), 2020 Guangming Wang Minjian Xin Wenhua Wu Yanfeng Guo Hesheng Wang OffRL 115 26 0 24 Nov 2020
Towards Learning Controllable Representations of Physical Systems Kevin Haninger R. Vicente-Garcia J. Krüger 167 1 0 16 Nov 2020
Offline Learning of Counterfactual Predictions for Real-World Robotic Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2020 Jun Jin D. Graves Cameron Haigh Jun Luo Martin Jägersand SSL OffRL 210 6 0 11 Nov 2020
Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization M. Akbulut Utku Bozdoğan Ahmet E. Tekden Emre Ugur 199 7 0 09 Nov 2020
"What, not how": Solving an under-actuated insertion task from scratch Giulia Vezzani Michael Neunert Markus Wulfmeier Rae Jeong Thomas Lampe Noah Y. Siegel Agrim Gupta A. Abdolmaleki Martin Riedmiller F. Nori 102 1 0 29 Oct 2020
S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency Mel Vecerík Jean-Baptiste Regli Oleg O. Sushkov David Barker Rugile Pevceviciute Thomas Rothörl C. Schuster R. Hadsell Lourdes Agapito Jonathan Scholz 3DPC 319 40 0 30 Sep 2020
Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks Yifang Liu Diego Romeres Devesh K. Jha D. Nikovski 132 19 0 22 Jul 2020
Representations for Stable Off-Policy Reinforcement LearningInternational Conference on Machine Learning (ICML), 2020 Dibya Ghosh Marc G. Bellemare OffRL SSL OOD 199 45 0 10 Jul 2020
Quantifying Differences in Reward FunctionsInternational Conference on Learning Representations (ICLR), 2020 Adam Gleave Michael Dennis Shane Legg Stuart J. Russell Jan Leike OffRL 249 71 0 24 Jun 2020