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1812.07252
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Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks
18 December 2018
Stephen James
Paul Wohlhart
Mrinal Kalakrishnan
Dmitry Kalashnikov
A. Irpan
Julian Ibarz
Sergey Levine
R. Hadsell
Konstantinos Bousmalis
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Papers citing
"Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks"
50 / 215 papers shown
Best of Sim and Real: Decoupled Visuomotor Manipulation via Learning Control in Simulation and Perception in Real
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Yingdong Hu
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30 Sep 2025
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
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Liqian Ma
Zhenyang Chen
Ajay Mandlekar
Caelan Reed Garrett
Danfei Xu
OOD
212
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0
23 Sep 2025
Towards scalable organ level 3D plant segmentation: Bridging the data algorithm computing gap
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Guangxun Zhai
Tian Qiu
Yu Jiang
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126
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08 Sep 2025
Hardware Implementation of a Zero-Prior-Knowledge Approach to Lifelong Learning in Kinematic Control of Tendon-Driven Quadrupeds
Hesam Azadjou
Suraj Chakravarthi Raja
Ali Marjaninejad
Francisco J. Valero Cuevas
79
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21 Aug 2025
Improving Generalization Ability of Robotic Imitation Learning by Resolving Causal Confusion in Observations
Yifei Chen
Yuzhe Zhang
Giovanni Dúrso
Nicholas Lawrance
Brendan Tidd
OOD
CML
147
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30 Jul 2025
Autonomous Robotic Pruning in Orchards and Vineyards: a Review
Alessandro Navone
Mauro Martini
Marcello Chiaberge
280
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0
12 May 2025
High-Performance Reinforcement Learning on Spot: Optimizing Simulation Parameters with Distributional Measures
IEEE International Conference on Robotics and Automation (ICRA), 2025
A. J Miller
Fangzhou Yu
Michael Brauckmann
Farbod Farshidian
OffRL
BDL
453
4
0
24 Apr 2025
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
Jad Abou-Chakra
Lingfeng Sun
Krishan Rana
Brandon B. May
Karl Schmeckpeper
Niko Suenderhauf
M. Minniti
Laura Herlant
OffRL
924
1
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04 Apr 2025
Boosting Robotic Manipulation Generalization with Minimal Costly Data
Liming Zheng
Feng Yan
Fanfan Liu
C. Feng
Yufeng Zhong
Yiyang Huang
365
1
0
25 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey
Kun Zhang
Peng Yun
Jun Cen
Junhao Cai
DiDi Zhu
...
Qifeng Chen
Jia Pan
Wei Zhang
Bo Yang
Hua Chen
661
14
0
05 Mar 2025
A Simulation Pipeline to Facilitate Real-World Robotic Reinforcement Learning Applications
IEEE Systems Conference (SysCon), 2025
Jefferson Silveira
Joshua A. Marshall
Sidney N. Givigi Jr
285
1
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24 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
IEEE International Conference on Robotics and Automation (ICRA), 2025
Shivansh Patel
Xinchen Yin
Wenlong Huang
Shubham Garg
H. Nayyeri
Li Fei-Fei
Svetlana Lazebnik
Yongqian Li
439
1
0
12 Feb 2025
GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy
So Kuroki
Jiaxian Guo
T. Matsushima
Takuya Okubo
Masato Kobayashi
Yuya Ikeda
Ryosuke Takanami
Paul D. Yoo
Yutaka Matsuo
Yusuke Iwasawa
298
1
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28 Jan 2025
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy
IEEE International Conference on Robotics and Automation (ICRA), 2023
So Kuroki
Jiaxian Guo
T. Matsushima
Takuya Okubo
Masato Kobayashi
Yuya Ikeda
Ryosuke Takanami
Paul D. Yoo
Yutaka Matsuo
Yusuke Iwasawa
AI4CE
352
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28 Jan 2025
Learning more with the same effort: how randomization improves the robustness of a robotic deep reinforcement learning agent
Lucía Güitta-López
Jaime Boal
Álvaro J. López-López
266
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24 Jan 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
Pingcheng Jian
Easop Lee
Zachary I. Bell
Michael M. Zavlanos
Boyuan Chen
469
1
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03 Jan 2025
Visual-Based Forklift Learning System Enabling Zero-Shot Sim2Real Without Real-World Data
IEEE International Conference on Robotics and Automation (ICRA), 2024
Koshi Oishi
Teruki Kato
Hiroya Makino
Seigo Ito
OffRL
388
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16 Dec 2024
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments
Jumman Hossain
Emon Dey
Snehalraj Chugh
Masud Ahmed
MS Anwar
...
Adrienne Raglin
Carl E. Busart
T. Gregory
Anuradha Ravi
Nirmalya Roy
282
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22 Oct 2024
LocoVR: Multiuser Indoor Locomotion Dataset in Virtual Reality
International Conference on Learning Representations (ICLR), 2024
Kojiro Takeyama
Yimeng Liu
Misha Sra
203
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09 Oct 2024
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
Conference on Robot Learning (CoRL), 2024
Pu Hua
Minghuan Liu
Annabella Macaluso
Yunfeng Lin
Weinan Zhang
Huazhe Xu
Lirui Wang
LM&Ro
LRM
311
36
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04 Oct 2024
MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion
Qi Liu
Jingxiang Guo
Sixu Lin
Shuaikang Ma
Jinxuan Zhu
Yanjie Li
225
5
0
25 Aug 2024
Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery
IEEE Robotics and Automation Letters (RA-L), 2023
Paul Maria Scheikl
E. Tagliabue
B. Gyenes
M. Wagner
Diego DallÁlba
Paolo Fiorini
Franziska Mathis-Ullrich
MedIm
235
71
0
10 Jun 2024
Prompt-based Visual Alignment for Zero-shot Policy Transfer
Haihan Gao
Rui Zhang
Qi Yi
Hantao Yao
Haochen Li
...
Zihao Zhang
Zidong Du
Ling Li
Qi Guo
Yunji Chen
244
1
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05 Jun 2024
Model-free reinforcement learning with noisy actions for automated experimental control in optics
Lea Richtmann
Viktoria-S. Schmiesing
Dennis Wilken
Jan Heine
Aaron Tranter
Avishek Anand
Tobias J. Osborne
M. Heurs
369
3
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24 May 2024
Natural Language Can Help Bridge the Sim2Real Gap
Albert Yu
Adeline Foote
Raymond J. Mooney
Roberto Martín-Martín
LM&Ro
397
21
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16 May 2024
RaSim: A Range-aware High-fidelity RGB-D Data Simulation Pipeline for Real-world Applications
Xingyu Liu
Chenyangguang Zhang
Gu Wang
Ruida Zhang
Xiangyang Ji
236
2
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05 Apr 2024
Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Haoxiang Ma
Ran Qin
Modi Shi
Boyang Gao
Di Huang
293
8
0
18 Mar 2024
Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior
Kechun Xu
Zhongxiang Zhou
Jun Wu
Haojian Lu
Rong Xiong
Yue Wang
358
8
0
23 Feb 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
209
69
0
16 Jan 2024
Domain-Independent Disperse and Pick method for Robotic Grasping
Prem Raj
Aniruddha Singhal
Vipul Sanap
Laxmidhar Behera
Rajesh Sinha
210
8
0
19 Dec 2023
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
Conference on Robot Learning (CoRL), 2023
Kaylee Burns
Zach Witzel
Jubayer Ibn Hamid
Tianhe Yu
Chelsea Finn
Karol Hausman
OOD
SSL
374
34
0
03 Nov 2023
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jingyun Yang
Congyue Deng
Jimmy Wu
Rika Antonova
Leonidas Guibas
Jeannette Bohg
LM&Ro
328
46
0
24 Oct 2023
What do we learn from a large-scale study of pre-trained visual representations in sim and real environments?
IEEE International Conference on Robotics and Automation (ICRA), 2023
Sneha Silwal
Karmesh Yadav
Tingfan Wu
Jay Vakil
Arjun Majumdar
...
Dhruv Batra
Aravind Rajeswaran
Mrinal Kalakrishnan
Franziska Meier
Oleksandr Maksymets
SSL
LM&Ro
322
15
0
03 Oct 2023
Prompt to Transfer: Sim-to-Real Transfer for Traffic Signal Control with Prompt Learning
AAAI Conference on Artificial Intelligence (AAAI), 2023
Longchao Da
Mingchen Gao
Hao Mei
Hua Wei
LLMAG
416
49
0
28 Aug 2023
Uncertainty-aware Grounded Action Transformation towards Sim-to-Real Transfer for Traffic Signal Control
IEEE Conference on Decision and Control (CDC), 2023
Longchao Da
Hao Mei
Romir Sharma
Hua Wei
308
5
0
23 Jul 2023
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2023
Yijiong Lin
Alex Church
Max Yang
Haoran Li
John Lloyd
Dandan Zhang
Nathan Lepora
237
44
0
12 Jul 2023
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Annie Xie
Lisa Lee
Ted Xiao
Chelsea Finn
264
90
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07 Jul 2023
Online Prototype Alignment for Few-shot Policy Transfer
International Conference on Machine Learning (ICML), 2023
Qi Yi
Rui Zhang
Shaohui Peng
Jiaming Guo
Yunkai Gao
...
Xingui Hu
Zidong Du
Xishan Zhang
Qi Guo
Yunji Chen
OffRL
233
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12 Jun 2023
On Robot Grasp Learning Using Equivariant Models
Autonomous Robots (Auton. Robots), 2023
Xu Zhu
Dian Wang
Guanang Su
Ondrej Biza
Robin Walters
Robert Platt
253
20
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10 Jun 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer
IEEE International Conference on Robotics and Automation (ICRA), 2023
Bohan Wu
Roberto Martin-Martin
Li Fei-Fei
228
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23 May 2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators
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Kanishka Rao
Karol Hausman
Yao Lu
Paul Wohlhart
...
Noah Brown
Mrinal Kalakrishnan
Julian Ibarz
P. Pastor
Sergey Levine
OffRL
232
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05 May 2023
Auto-Linear Phenomenon in Subsurface Imaging
International Conference on Machine Learning (ICML), 2023
Yinan Feng
Yinpeng Chen
Peng Jin
Shihang Feng
Zicheng Liu
Youzuo Lin
170
7
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27 Apr 2023
Can Agents Run Relay Race with Strangers? Generalization of RL to Out-of-Distribution Trajectories
International Conference on Learning Representations (ICLR), 2023
Li-Cheng Lan
Huan Zhang
Cho-Jui Hsieh
OODD
218
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26 Apr 2023
Natural Language Robot Programming: NLP integrated with autonomous robotic grasping
Muhammad Arshad Khan
Max Kenney
Jack Painter
Disha Kamale
Riza Batista-Navarro
Amir M. Ghalamzan-E.
LM&Ro
139
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06 Apr 2023
A Simple Approach for General Task-Oriented Picking using Placing constraints
Jen-Wei Wang
Lingfeng Sun
Xinghao Zhu
Q. Qian
Masayoshi Tomizuka
181
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03 Apr 2023
Synthetic-to-Real Domain Adaptation for Action Recognition: A Dataset and Baseline Performances
IEEE International Conference on Robotics and Automation (ICRA), 2023
Arun V. Reddy
Ketul Shah
William Paul
Rohita Mocharla
Judy Hoffman
Kapil D. Katyal
Dinesh Manocha
Celso M. de Melo
Ramalingam Chellappa
172
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17 Mar 2023
Recent Advances of Deep Robotic Affordance Learning: A Reinforcement Learning Perspective
IEEE Transactions on Cognitive and Developmental Systems (IEEE TCDS), 2023
Xintong Yang
Ze Ji
Jing Wu
Yunyu Lai
259
19
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09 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
Le Chen
228
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03 Mar 2023
Domain Adaptation of Reinforcement Learning Agents based on Network Service Proximity
IEEE Conference on Network Softwarization (NetSoft), 2023
Kaushik Dey
S. K. Perepu
P. Dasgupta
Abir Das
163
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02 Mar 2023
Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach
IEEE International Conference on Robotics and Automation (ICRA), 2023
Wenxing Liu
Hanlin Niu
Wei Pan
G. Herrmann
J. Carrasco
200
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26 Feb 2023
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