30 citations · 94 across the 10 of their papers we have counts for
15 papers · 1 filter
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad)
Jack Collins, Ross Brown, Jürgen Leitner +1
We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first…
Passing Through Narrow Gaps with Deep Reinforcement Learning
Brendan Tidd, Akansel Cosgun, Jurgen Leitner +1
The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing sm…
Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts
Brendan Tidd, Nicolas Hudson, Akansel Cosgun +1
Legged robots often use separate control policiesthat are highly engineered for traversing difficult terrain suchas stairs, gaps, and steps, where switching between policies isonly…
Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
Robert Lee, Daniel Ward, Akansel Cosgun +3
Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. I…
EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation
Douglas Morrison, Peter Corke, Jürgen Leitner
We present the Evolved Grasping Analysis Dataset (EGAD), comprising over 2000 generated objects aimed at training and evaluating robotic visual grasp detection algorithms. The obje…
Traversing the Reality Gap via Simulator Tuning
Jack Collins, Ross Brown, Jurgen Leitner +1
The large demand for simulated data has made the reality gap a problem on the forefront of robotics. We propose a method to traverse the gap by tuning available simulation paramete…