Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

16 October 2023

Masayoshi Tomizuka

Papers citing "Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning"

21 / 21 papers shown

Title
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning Shuqi Zhao Ke Yang Yuxin Chen Chenran Li Yichen Xie Xiang Zhang Changhao Wang M. Tomizuka 31 0 0 02 May 2025
Bresa: Bio-inspired Reflexive Safe Reinforcement Learning for Contact-Rich Robotic Tasks Heng Zhang Gokhan Solak Arash Ajoudani 34 0 0 27 Mar 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 45 3 0 27 Mar 2025
Robot Policy Transfer with Online Demonstrations: An Active Reinforcement Learning Approach Muhan Hou Koen V. Hindriks A. E. Eiben Kim Baraka OffRL 39 0 0 17 Mar 2025
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks Yijie Guo Bingjie Tang Iretiayo Akinola Dieter Fox Abhishek Gupta Yashraj S. Narang 44 0 0 06 Mar 2025
Towards LLM-guided Efficient and Interpretable Multi-linear Tensor Network Rank Selection Giorgos Iacovides Wuyang Zhou Danilo P. Mandic 24 0 0 14 Oct 2024
Automated Creation of Digital Cousins for Robust Policy Learning Tianyuan Dai Josiah Wong Yunfan Jiang Chen Wang Cem Gokmen Ruohan Zhang Jiajun Wu Li Fei-Fei 31 19 0 09 Oct 2024
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping Ziye Huang Haoqi Yuan Yuhui Fu Zongqing Lu 22 3 0 03 Oct 2024
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 44 8 0 08 Aug 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 29 10 0 10 Jul 2024
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang Yifei Zhang Mingxiao Huo Ran Tian Xiang Zhang ... Chenfeng Xu Pengliang Ji Wei Zhan Mingyu Ding M. Tomizuka MoE 34 17 0 01 Jul 2024
Optimal Gait Design for a Soft Quadruped Robot via Multi-fidelity Bayesian Optimization Kaige Tan Xuezhi Niu Qinglei Ji Lei Feng Martin Törngren 25 1 0 11 Jun 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 30 20 0 16 May 2024
Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks Lingfeng Sun Devesh K. Jha Chiori Hori Siddarth Jain Radu Corcodel Xinghao Zhu Masayoshi Tomizuka Diego Romeres LM&Ro LLMAG 17 20 0 11 Dec 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 32 12 0 13 Nov 2023
Diff-Transfer: Model-based Robotic Manipulation Skill Transfer via Differentiable Physics Simulation Yuqi Xiang Feitong Chen Qinsi Wang Yang Gang Xiang Zhang Xinghao Zhu Xingyu Liu Lin Shao 19 1 0 07 Oct 2023
Guided Online Distillation: Promoting Safe Reinforcement Learning by Offline Demonstration Jinning Li Xinyi Liu Banghua Zhu Jiantao Jiao M. Tomizuka Chen Tang Wei Zhan OffRL OnRL 58 9 0 18 Sep 2023
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control Joohwan Seo N. Prakash Xiang Zhang Changhao Wang Jongeun Choi M. Tomizuka R. Horowitz 24 12 0 29 Aug 2023
Learning Generalizable Pivoting Skills Xiang Zhang Siddarth Jain Baichuan Huang M. Tomizuka Diego Romeres 26 14 0 04 May 2023
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 M. Tomizuka OffRL 44 8 0 01 Oct 2022
Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning Jinning Li Chen Tang M. Tomizuka Wei Zhan OffRL 47 54 0 24 May 2022