Benchmarking Offline Reinforcement Learning on Real-Robot Hardware

28 July 2023

Stefan Bauer

Papers citing "Benchmarking Offline Reinforcement Learning on Real-Robot Hardware"

28 / 28 papers shown

Title
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins Yao Mu Tianxing Chen Z. Chen Shijia Peng Zhiqian Lan ... Mingkun Xu Lunkai Lin Zhiqiang Xie Mingyu Ding Ping Luo 24 1 0 17 Apr 2025
Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies Guilherme Christmann Ying-Sheng Luo Hanjaya Mandala Wei-Chao Chen 14 0 0 22 Oct 2024
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Soroush Nasiriany Abhiram Maddukuri Lance Zhang Adeet Parikh Aaron Lo Abhishek Joshi Ajay Mandlekar Yuke Zhu LM&Ro 27 68 0 04 Jun 2024
Learning Goal-Conditioned Policies from Sub-Optimal Offline Data via Metric Learning Alfredo Reichlin Miguel Vasco Hang Yin Danica Kragic OffRL 8 0 0 16 Feb 2024
Dataset Clustering for Improved Offline Policy Learning Qiang Wang Yixin Deng Francisco Roldan Sanchez Keru Wang Kevin McGuinness Noel E. O'Connor Stephen J. Redmond OffRL 20 2 0 14 Feb 2024
ReCoRe: Regularized Contrastive Representation Learning of World Model Rudra P. K. Poudel Harit Pandya Stephan Liwicki Roberto Cipolla DRL OffRL 10 3 0 14 Dec 2023
An Invitation to Deep Reinforcement Learning Bernhard Jaeger Andreas Geiger OffRL OOD 53 5 0 13 Dec 2023
Traffic Signal Control Using Lightweight Transformers: An Offline-to-Online RL Approach Xingshuai Huang Di Wu Benoit Boulet OffRL 9 2 0 12 Dec 2023
Goal-conditioned Offline Planning from Curious Exploration Marco Bagatella Georg Martius OffRL 14 1 0 28 Nov 2023
Uni-O4: Unifying Online and Offline Deep Reinforcement Learning with Multi-Step On-Policy Optimization Kun Lei Zhengmao He Chenhao Lu Kaizhe Hu Yang Gao Huazhe Xu OffRL OnRL 37 8 0 06 Nov 2023
DiffCPS: Diffusion Model based Constrained Policy Search for Offline Reinforcement Learning Longxiang He Li Shen Linrui Zhang Junbo Tan Xueqian Wang OffRL 20 8 0 09 Oct 2023
$${\tt MORALS}$: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space$ ${\tt MORALS}$ : Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space Ewerton R. Vieira A. Sivaramakrishnan Sumanth Tangirala Edgar Granados Konstantin Mischaikow Kostas E. Bekris 31 1 0 05 Oct 2023
A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning Sidney Besnard Shuyu Yang M. Fadili OffRL 11 2 0 13 Sep 2023
ORL-AUDITOR: Dataset Auditing in Offline Deep Reinforcement Learning L. Du Min Chen Mingyang Sun Shouling Ji Peng Cheng Jiming Chen Zhikun Zhang OffRL 16 8 0 06 Sep 2023
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World Nicolas Gurtler Felix Widmaier Cansu Sancaktar Sebastian Blaes Pavel Kolev ... Arman Raayatsanati Hehui Zheng Barnabas Gavin Cangan Bernhard Schölkopf Georg Martius OffRL 21 2 0 15 Aug 2023
Robotic Manipulation Datasets for Offline Compositional Reinforcement Learning Marcel Hussing Jorge Armando Mendez Mendez Anisha Singrodia Cassandra Kent Eric Eaton OffRL 21 5 0 13 Jul 2023
Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry Shengchao Yan Baohe Zhang Yuan Zhang Joschka Boedecker Wolfram Burgard 8 2 0 28 Jun 2023
FastRLAP: A System for Learning High-Speed Driving via Deep RL and Autonomous Practicing Kyle Stachowicz Dhruv Shah Arjun Bhorkar Ilya Kostrikov Sergey Levine OffRL 17 26 0 19 Apr 2023
Identifying Expert Behavior in Offline Training Datasets Improves Behavioral Cloning of Robotic Manipulation Policies Qiang-qiang Wang Robert McCarthy David Córdova Bulens Francisco Roldan Sanchez Kevin McGuinness Noel E. O'Connor S. Redmond OffRL 12 3 0 30 Jan 2023
Improving Behavioural Cloning with Positive Unlabeled Learning Qiang-qiang Wang Robert McCarthy David Córdova Bulens Kevin McGuinness Noel E. O'Connor Nico Gürtler Felix Widmaier Francisco Roldan Sanchez S. Redmond OffRL OnRL 11 7 0 27 Jan 2023
Dexterous Robotic Manipulation using Deep Reinforcement Learning and Knowledge Transfer for Complex Sparse Reward-based Tasks Qiang Wang Francisco Roldan Sanchez Robert McCarthy David Córdova Bulens Kevin McGuinness Noel E. O'Connor M. Wuthrich Felix Widmaier Stefan Bauer S. Redmond 8 14 0 19 May 2022
d3rlpy: An Offline Deep Reinforcement Learning Library Takuma Seno M. Imai OffRL GP 55 97 0 06 Nov 2021
Offline Reinforcement Learning with Implicit Q-Learning Ilya Kostrikov Ashvin Nair Sergey Levine OffRL 206 627 0 12 Oct 2021
BRAC+: Improved Behavior Regularized Actor Critic for Offline Reinforcement Learning Chi Zhang S. Kuppannagari Viktor Prasanna OffRL 39 15 0 02 Oct 2021
A Workflow for Offline Model-Free Robotic Reinforcement Learning Aviral Kumar Anika Singh Stephen Tian Chelsea Finn Sergey Levine OffRL 138 84 0 22 Sep 2021
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 139 461 0 06 Aug 2021
COMBO: Conservative Offline Model-Based Policy Optimization Tianhe Yu Aviral Kumar Rafael Rafailov Aravind Rajeswaran Sergey Levine Chelsea Finn OffRL 194 412 0 16 Feb 2021
Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems Sergey Levine Aviral Kumar George Tucker Justin Fu OffRL GP 321 1,662 0 04 May 2020