11 citations · 18 across the 18 of their papers we have counts for
4 papers · 1 filter
What Matters for Simulation to Online Reinforcement Learning on Real Robots
Yarden As, Dhruva Tirumala, René Zurbrügg +4
We investigate what specific design choices enable successful online reinforcement learning (RL) on physical robots. Across 100 real-world training runs on three distinct robotic p…
SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer
Yarden As, Chengrui Qu, Benjamin Unger +6
Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques…
Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery
Yunke Ao, Manish Prajapat, Yarden As +6
Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and r…
Safe Deep RL for Intraoperative Planning of Pedicle Screw Placement
Yunke Ao, Hooman Esfandiari, Fabio Carrillo +5
Spinal fusion surgery requires highly accurate implantation of pedicle screw implants, which must be conducted in critical proximity to vital structures with a limited view of anat…