Paper tackles sim-to-real transfer in continuous domains with partial observations.
problem Lack of theoretical foundation for sim-to-real transfer in continuous domains with partial observations.
method Developed a new algorithm for infinite-horizon average-cost LQGs and established a regret bound.
result A popular robust adversarial training algorithm can learn competitive policies from simulation to real-world environments.
Survey examines challenges and solutions in sim-to-real transfer for robotics.
problem Challenges in transferring robotic systems from simulation to real-world environments.
method Leveraging techniques like domain randomization, real-to-sim transfer, state and action abstractions, and sim-real co-training.
result Promising results in closing the reality gap across various robotic domains.
Bayesian optimization adapts domain parameters for more robust robot policies.
problem Learning policies for robot control from simulation data often fails in the real world due to the 'reality gap'.
method Bayesian Domain Randomization (BayRn) uses Bayesian optimization to adapt domain parameter distributions during training.
result BayRn achieves better sim-to-real transfer compared to fixed distribution methods.
RL controls small soccer robots in a real league, beating human-designed policies.
problem Training robots to play complex, real-world sports.
method Sim-to-Real RL approach, training in simulated environment, applying to real-world robots.
result Robots learned policies to compete effectively, beating human-designed strategies.
This work studies reinforcement learning in the Sim-to-Real setting, in which an agent is first trained on a number of simulators before being deployed in the real world, with the aim of decreasing the real-world sample complexity requirement. Using a dynamic model known as a rich observation Markov decision process (R…
Particle physics or High Energy Physics (HEP) studies the elementary constituents of matter and their interactions with each other. Machine Learning (ML) has played an important role in HEP analysis and has proven extremely successful in this area. Usually, the ML algorithms are trained on numerical simulations of the …
Method captures fabric mechanics from depth images without expensive setups.
problem Estimating mechanical parameters of fabrics accurately and efficiently.
method Sim-to-real strategy using learning-based framework trained on synthetic data.
result Metric correlates with human judgments of fabric drape similarity.
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training for thousands of hours equivalent real robot time. To address this shortcoming, we…
New RL method tackles sim-to-real gap using interactive data collection.
problem Sim-to-real gap in reinforcement learning.
method Distributionally robust reinforcement learning with interactive data collection.
result Proves sample-efficient learning is impossible without additional assumptions.
This work shows how to use simulators to learn efficient exploration in real-world RL.
problem Sample complexity of real-world reinforcement learning.
method Coupling exploratory policies learned in simulators with practical approaches.
result Polynomial sample complexity in real world, exponential improvement over direct sim2real transfer.
Mobile network that millions of people use every day is one of the most complex systems in the world. Optimization of mobile network to meet exploding customer demand and reduce capital/operation expenditures poses great challenges. Despite recent progress, application of deep reinforcement learning (DRL) to complex re…
CausalWorld benchmarks robotic manipulation tasks with causal structure for transfer learning.
problem Challenges in transferring learned skills to new robotic manipulation environments.
method Proposes a simulation-based benchmark with a combinatorial family of tasks.
result Demonstrates the feasibility of tasks in the benchmark and provides baseline results.
This work analyzes how multi-agent reinforcement learning can bridge the gap to reality in distributed multi-robot systems.
problem Collaborative learning in distributed multi-robot systems with varying sensors and actuators.
method Simulation-based analysis using PPO and Bullet physics engine, considering different types of perturbations.
result PPO's robustness is affected by the presence of different types of perturbations and the number of agents experiencing them.
The paper proposes a method to learn from both simulation and real-world data.
problem Training autonomous systems in simulation and applying them to real-world environments.
method Balancing samples from simulation and real-world data using a replay buffer.
result The method achieves better performance in real-world tasks compared to training only in simulation.
Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating prior knowledge. This results in prohibitively long training times for use on rea…
Physics-informed learning framework for pH systems and EB-PBC control.
problem Control of port-Hamiltonian systems from trajectory data.
method Co-learning of pH system model and EB-PBC through alternating optimization.
result Proven stability and robustness of the learned controller.
Robust reinforcement learning agents generalize well to out-of-distribution settings using pretrained representations.
problem Achieving sample-efficient reinforcement learning agents that generalize to real-world settings.
method Trained 240 representations and 10,000 RL policies on a simulated robotic setup, evaluating different pretrained VAE-based representations' effects on OOD generalization.
result Many reinforcement learning agents are surprisingly robust to realistic distribution shifts, including sim-to-real cases.
New algorithm reduces sample size for robust reinforcement learning.
problem Creating robust policies for multi-agent reinforcement learning.
method Model-based algorithm RTZ-VI-LCB for tabular robust two-player zero-sum games.
result Establishes near-optimal sample complexity guarantees for offline robust reinforcement learning.
High-throughput 3D control training system achieves 100,000 FPS.
problem Lack of efficient, single-machine reinforcement learning systems.
method Sample Factory combines asynchronous sampling and off-policy correction.
result Achieves 100,000 FPS on 3D control problems without sacrificing sample efficiency.
Recently, reinforcement learning (RL) algorithms have demonstrated remarkable success in learning complicated behaviors from minimally processed input. However, most of this success is limited to simulation. While there are promising successes in applying RL algorithms directly on real systems, their performance on mor…
This work tackles robust RL in multi-agent settings, improving sample efficiency.
problem Overcoming environmental uncertainties in multi-agent reinforcement learning.
method Proposes DRNVI, a sample-efficient algorithm for learning robust equilibria in RMGs.
result Establishes near-optimal sample complexity for solving RMGs.
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting motions while performing computations. Another advantage when robots are involved…
New algorithm breaks multiagency gap in robust MARL.
problem Vulnerability of MARL to sim-to-real gaps.
method Distributionally robust Markov games (RMGs) with a new uncertainty set formulation.
result First algorithm to break the curse of multiagency for RMGs.
Paper presents a world model that learns invariant causal features using contrastive unsupervised learning.
problem Learning invariant causal features in unsupervised settings.
method Contrastive unsupervised learning with intervention invariant auxiliary task.
result Significantly outperforms state-of-the-art methods on out-of-distribution point navigation tasks.
ReCoRe learns invariant features for world navigation using contrastive learning and regularizers.
problem Limited sample efficiency and overfitting to training scenarios in RL for visual navigation.
method Contrastive unsupervised learning and intervention-invariant regularizer.
result Significantly improves sample efficiency and generalization in out-of-distribution point navigation tasks.
Algorithm learns robust equilibrium in online Markov games with interactive data.
problem Sim-to-real gap in reinforcement learning.
method Distributionally robust RL with minimum value assumption, least square value iteration.
result Sample-efficient algorithm for robust equilibrium in online Markov games.