2 papers
cs.RO2025
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
Jad Abou-Chakra, Lingfeng Sun, Krishan Rana +5
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies…
cs.RO2024
On-Robot Reinforcement Learning with Goal-Contrastive Rewards
Ondrej Biza, Thomas Weng, Lingfeng Sun +6
Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-r…