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Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks
v1v2 (latest)

Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks

IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
29 April 2020
Gerrit Schoettler
Ashvin Nair
J. A. Ojea
Sergey Levine
Eugen Solowjow
    OffRLOnRL
ArXiv (abs)PDFHTML

Papers citing "Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks"

47 / 47 papers shown
Title
Reinforcement Learning for Robotic Insertion of Flexible Cables in Industrial Settings
Reinforcement Learning for Robotic Insertion of Flexible Cables in Industrial Settings
Jeongwoo Park
Seabin Lee
Changmin Park
Wonjong Lee
Changjoo Nam
27
0
0
17 Sep 2025
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
Kaizhe Hu
Haochen Shi
Yao He
Weizhuo Wang
Changliu Liu
Shuran Song
OnRL
93
0
0
17 Aug 2025
MatchMaker: Automated Asset Generation for Robotic Assembly
MatchMaker: Automated Asset Generation for Robotic Assembly
Yian Wang
Bingjie Tang
Chuang Gan
Dieter Fox
Kaichun Mo
Yashraj S. Narang
Iretiayo Akinola
185
1
0
07 Mar 2025
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration
Minjie Zhu
Yinlin Zhu
Jinming Li
Zhongyi Zhou
Junjie Wen
Xiaoyu Liu
Yaxin Peng
Chaomin Shen
Feifei Feng
LM&Ro
215
12
0
26 Feb 2025
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks
Ahmed Shokry
Walid Gomaa
Tobias Zaenker
Murad Dawood
Shady A. Maged
Mohammed I. Awad
Maren Bennewitz
Maren Bennewitz
OffRL
161
0
0
24 Sep 2024
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
Yansong Wu
Zongxie Chen
Fan Wu
L. Chen
Liding Zhang
Zhenshan Bing
Abdalla Swikir
Sami Haddadin
Sami Haddadin
173
18
0
17 Sep 2024
Automating Deformable Gasket Assembly
Automating Deformable Gasket Assembly
Simeon Adebola
Tara Sadjadpour
Karim El-Refai
Will Panitch
Zehan Ma
...
Tianshuang Qiu
Shreya Ganti
Charlotte Le
Jaimyn Drake
Ken Goldberg
AI4CE
104
2
0
22 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
Michael Noseworthy
Bingjie Tang
Bowen Wen
Ankur Handa
Nicholas Roy
Nicholas Roy
Dieter Fox
Yashraj S. Narang
Iretiayo Akinola
Iretiayo Akinola
167
16
0
08 Aug 2024
SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for
  Contact-Rich Robotic Tasks
SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Heng Zhang
Gokhan Solak
G. J. G. Lahr
Arash Ajoudani
94
16
0
19 Jun 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Yunfan Jiang
Chen Wang
Ruohan Zhang
Jiajun Wu
Fei-Fei Li
OnRL
184
39
0
16 May 2024
Meta-Evolve: Continuous Robot Evolution for One-to-many Policy Transfer
Meta-Evolve: Continuous Robot Evolution for One-to-many Policy Transfer
Xingyu Liu
Deepak Pathak
Ding Zhao
103
6
0
06 May 2024
POMDP-Guided Active Force-Based Search for Robotic Insertion
POMDP-Guided Active Force-Based Search for Robotic Insertion
Chen Wang
Haoxiang Luo
Kun Zhang
Hua Chen
Jia Pan
Wei Zhang
87
5
0
05 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
JUICER: Data-Efficient Imitation Learning for Robotic Assembly
Lars Ankile
Anthony Simeonov
Idan Shenfeld
Pulkit Agrawal
LM&Ro
162
29
0
04 Apr 2024
Deep Reinforcement Learning for Traveling Purchaser Problems
Deep Reinforcement Learning for Traveling Purchaser Problems
Haofeng Yuan
Rong-Zhu Zhu
Wanlu Yang
Shiji Song
Keyou You
Yuli Zhang
110
0
0
03 Apr 2024
PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via
  Sim-to-real Adaptation
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
95
6
0
05 Dec 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for
  Industrial Insertion
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion
Xiang Zhang
Masayoshi Tomizuka
Hui Li
190
18
0
13 Nov 2023
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Kelin Yu
Yunhai Han
Matthew Zhu
Vaibhav Saxena
Danfei Xu
Ye Zhao
152
32
0
25 Oct 2023
Knolling Bot: Learning Robotic Object Arrangement from Tidy
  Demonstrations
Knolling Bot: Learning Robotic Object Arrangement from Tidy Demonstrations
Yuhang Hu
Zhizhuo Zhang
Xinyue Zhu
Ruibo Liu
P. Wyder
Hod Lipson
LM&RoSSL
110
0
0
06 Oct 2023
Reinforcement Learning with Parameterized Manipulation Primitives for
  Robotic Assembly
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly
N. Vuong
Quang Pham
88
1
0
11 Jun 2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer
  of Robot Assembly
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly
N. Vuong
Quang Pham
79
2
0
11 Jun 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to
  Reality
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
129
68
0
26 May 2023
On First-Order Meta-Reinforcement Learning with Moreau Envelopes
On First-Order Meta-Reinforcement Learning with Moreau Envelopes
Taha Toghani
Sebastian Perez-Salazar
César A. Uribe
132
2
0
20 May 2023
Towards Generalized Robot Assembly through Compliance-Enabled Contact
  Formations
Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations
A. S. Morgan
Quentin Bateux
Mei Hao
A. Dollar
59
9
0
09 Mar 2023
Zero-Shot Transfer of Haptics-Based Object Insertion Policies
Zero-Shot Transfer of Haptics-Based Object Insertion Policies
Samarth Brahmbhatt
A. Deka
Andrew Spielberg
M. Muller
124
6
0
29 Jan 2023
Giving Feedback on Interactive Student Programs with Meta-Exploration
Giving Feedback on Interactive Student Programs with Meta-Exploration
Emmy Liu
Moritz Stephan
Allen Nie
Chris Piech
Emma Brunskill
Chelsea Finn
AI4Ed
135
7
0
16 Nov 2022
Robotic Assembly Control Reconfiguration Based on Transfer Reinforcement
  Learning for Objects with Different Geometric Features
Robotic Assembly Control Reconfiguration Based on Transfer Reinforcement Learning for Objects with Different Geometric Features
Yuhang Gai
Bin Wang
Jiwen Zhang
Dan Wu
Ken Chen
105
2
0
04 Nov 2022
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for
  Industrial Insertion of Novel Connectors from Vision
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision
Ashvin Nair
Brian Zhu
Gokul Narayanan
Eugen Solowjow
Sergey Levine
OffRLOnRL
186
19
0
27 Oct 2022
Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies
  for Industrial Insertion
Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion
Letian Fu
Huang Huang
Lars Berscheid
Hui Li
Ken Goldberg
Sachin Chitta
141
21
0
04 Oct 2022
Zero-Shot Policy Transfer with Disentangled Task Representation of
  Meta-Reinforcement Learning
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning
Zheng Wu
Yichen Xie
Wenzhao Lian
Changhao Wang
Yanjiang Guo
Jianyu Chen
S. Schaal
Masayoshi Tomizuka
OffRL
142
11
0
01 Oct 2022
Real2Sim or Sim2Real: Robotics Visual Insertion using Deep Reinforcement
  Learning and Real2Sim Policy Adaptation
Real2Sim or Sim2Real: Robotics Visual Insertion using Deep Reinforcement Learning and Real2Sim Policy Adaptation
Yiwen Chen
Xue-Yong Li
Sheng Guo
Xiang Yao Ng
Marcelo H. Ang Jr
68
7
0
06 Jun 2022
Economical Precise Manipulation and Auto Eye-Hand Coordination with
  Binocular Visual Reinforcement Learning
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
97
0
0
12 May 2022
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen
  Holes
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
Liangru Xie
Hongxiang Yu
Kechun Xu
Tong Yang
Minhang Wang
Haojian Lu
R. Xiong
Yue Wang
95
2
0
09 May 2022
Factory: Fast Contact for Robotic Assembly
Factory: Fast Contact for Robotic Assembly
Yashraj S. Narang
Kier Storey
Iretiayo Akinola
Miles Macklin
Philipp Reist
...
Ádám Moravánszky
Gavriel State
Michelle Lu
Ankur Handa
Dieter Fox
165
88
0
07 May 2022
Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum
  Learning Study
Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study
C. C. Beltran-Hernandez
Damien Petit
I. Ramirez-Alpizar
Kensuke Harada
84
4
0
27 Apr 2022
Robust Policy Learning over Multiple Uncertainty Sets
Robust Policy Learning over Multiple Uncertainty Sets
Annie Xie
Shagun Sodhani
Chelsea Finn
Joelle Pineau
Amy Zhang
OODOffRL
160
19
0
14 Feb 2022
A Survey of Robot Manipulation in Contact
A Survey of Robot Manipulation in Contact
Markku Suomalainen
Y. Karayiannidis
Ville Kyrki
168
131
0
03 Dec 2021
Learning Insertion Primitives with Discrete-Continuous Hybrid Action
  Space for Robotic Assembly Tasks
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks
Yongyu Wang
Shiyu Jin
Changhao Wang
Xinghao Zhu
Masayoshi Tomizuka
200
48
0
25 Oct 2021
Offline Meta-Reinforcement Learning for Industrial Insertion
Offline Meta-Reinforcement Learning for Industrial Insertion
Tony Zhao
Jianlan Luo
Oleg O. Sushkov
Rugile Pevceviciute
N. Heess
Jonathan Scholz
S. Schaal
Sergey Levine
OffRLOnRL
127
85
0
08 Oct 2021
Tolerance-Guided Policy Learning for Adaptable and Transferrable
  Delicate Industrial Insertion
Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion
Boshen Niu
Chenxi Wang
Changliu Liu
136
5
0
04 Aug 2021
Vision-driven Compliant Manipulation for Reliable, High-Precision
  Assembly Tasks
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
A. S. Morgan
Bowen Wen
Junchi Liang
Abdeslam Boularias
A. Dollar
Kostas Bekris
97
62
0
26 Jun 2021
Residual Feedback Learning for Contact-Rich Manipulation Tasks with
  Uncertainty
Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty
A. Ranjbar
Ngo Anh Vien
Hanna Ziesche
Joschka Boedecker
Gerhard Neumann
131
12
0
08 Jun 2021
Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide
  Task Spaces
Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spaces
Eugene Valassakis
Norman Di Palo
Edward Johns
153
17
0
24 May 2021
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement
  Learning and Demonstrations: A Large-Scale Study
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
Chang Su
Mel Vecerík
Ning Ye
S. Schaal
Jonathan Scholz
OffRL
182
65
0
21 Mar 2021
Analyzing the Hidden Activations of Deep Policy Networks: Why
  Representation Matters
Analyzing the Hidden Activations of Deep Policy Networks: Why Representation Matters
Trevor A. McInroe
Michael Spurrier
J. Sieber
Stephen Conneely
46
0
0
11 Mar 2021
Interpreting Contact Interactions to Overcome Failure in Robot Assembly
  Tasks
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks
Peter Zachares
Michelle A. Lee
Wenzhao Lian
Jeannette Bohg
144
19
0
07 Jan 2021
Adaptable Automation with Modular Deep Reinforcement Learning and Policy
  Transfer
Adaptable Automation with Modular Deep Reinforcement Learning and Policy Transfer
Zohreh Raziei
Mohsen Moghaddam
97
26
0
27 Nov 2020
Learning Sequences of Manipulation Primitives for Robotic Assembly
Learning Sequences of Manipulation Primitives for Robotic Assembly
N. Vuong
H. Pham
Quang Pham
107
28
0
02 Nov 2020
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