14 citations · 20 across the 7 of their papers we have counts for
7 papers · 1 filter
Safe Continual Domain Adaptation after Sim2Real Transfer of Reinforcement Learning Policies in Robotics
Josip Josifovski, Shangding Gu, Mohammadhossein Malmir +5
Domain randomization has emerged as a fundamental technique in reinforcement learning (RL) to facilitate the transfer of policies from simulation to real-world robotic applications…
DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation
Qian Feng, David S. Martinez Lema, Mohammadhossein Malmir +4
We introduce DexGanGrasp, a dexterous grasping synthesis method that generates and evaluates grasps with single view in real time. DexGanGrasp comprises a Conditional Generative Ad…
Continual Domain Randomization
Josip Josifovski, Sayantan Auddy, Mohammadhossein Malmir +3
Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tun…
State Representations as Incentives for Reinforcement Learning Agents: A Sim2Real Analysis on Robotic Grasping
Panagiotis Petropoulakis, Ludwig Gräf, Mohammadhossein Malmir +2
Choosing an appropriate representation of the environment for the underlying decision-making process of the reinforcement learning agent is not always straightforward. The state re…
DiAReL: Reinforcement Learning with Disturbance Awareness for Robust Sim2Real Policy Transfer in Robot Control
Mohammadhossein Malmir, Josip Josifovski, Noah Klarmann +1
Delayed Markov decision processes (DMDPs) fulfill the Markov property by augmenting the state space of agents with a finite time window of recently committed actions. In reliance o…
Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks
Josip Josifovski, Mohammadhossein Malmir, Noah Klarmann +3
Randomization is currently a widely used approach in Sim2Real transfer for data-driven learning algorithms in robotics. Still, most Sim2Real studies report results for a specific r…
Non-Holonomic RRT & MPC: Path and Trajectory Planning for an Autonomous Cycle Rickshaw
Damir Bojadžić, Julian Kunze, Dinko Osmanković +2
This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local pla…