3 papers
cs.RO2026
Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning
Varun Giridhar, Anant Khandelwal, Jeremy A. Collins +2
Behaviour Cloning (BC) has driven remarkable progress in robot manipulation, yet it is fundamentally limited by its inability to self-improve: a policy that fails cannot learn from…
cs.RO2024
DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation
Joshua Bagajo, Clemens Schwarke, Victor Klemm +5
Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from…
cs.RO2020
Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Ignat Georgiev, Christoforos Chatzikomis, Timo Völkl +2
Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural n…