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cs.RO2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson +4
This work explores conditions under which multi-finger grasping algorithms can attain robust sim-to-real transfer. While numerous large datasets facilitate learning generative mode…
cs.LG2024
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation
Ignat Georgiev, Krishnan Srinivasan, Jie Xu +2
Model-Free Reinforcement Learning (MFRL), leveraging the policy gradient theorem, has demonstrated considerable success in continuous control tasks. However, these approaches are p…