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We propose a method to predict the sim-to-real transfer performance of RL policies.
Learning to Augment Synthetic Images for Sim2Real Policy Transfer
Pashevich, A., Strudel, R. A. M., Kalevatykh, I., Laptev, I., and Schmid, C · 1903
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Mehta, B., Diaz, M., Golemo, F., Pal, C. J., and Paull, L · 1904
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Off-Policy Evaluation via Off-Policy Classification
Irpan, A., Rao, K., Bousmalis, K., Harris, C., Ibarz, J., and Levine, S · 1906
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Solving Rubik’s Cube with a Robot Hand
OpenAI, Akkaya, I., Andrychowicz, M., Chociej, M., Litwin, M., McGrew, B., Petron, A., Paino, A., Plappert, M., Powell, G., Ribas, R., Schneider, J., Tezak, N., Tworek, J., Welinder, P., Weng, L., Yuan, Q., Zaremba, W., and Zhang, L · 1910
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MuJoCo: A physics engine for model-based control
Todorov, E., Erez, T., and Tassa, Y · 2009
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Crossing the Reality Gap in Evolutionary Robotics by Promoting Transferable Controllers
Koos, S., Mouret, J.-B., and Doncieux, S · 2010
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Humanoid robots learning to walk faster: From the real world to simulation and back
Farchy, A., Barrett, S., MacAlpine, P., and Stone, P · 2013
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Gaussian processes for data-efficient learning in robotics and control
Deisenroth, M. P., Fox, D., and Rasmussen, C. E · 2015
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Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model
Christiano, P., Shah, Z., Mordatch, I., Schneider, J., Blackwell, T., Tobin, J., Abbeel, P., and Zaremba, W · 2016
Cited alongside, same era.
Sim-to-Real Robot Learning from Pixels with Progressive Nets
Rusu, A. A., Vecerik, M., Rothörl, T., Heess, N., Pascanu, R., and Hadsell, R · 2016
Cited alongside, same era.
Andrychowicz, M., Wolski, F., Ray, A., Schneider, J., Fong, R., Welinder, P., McGrew, B., Tobin, J., Abbeel, P., and Zaremba, W · 2017
Cited alongside, same era.
Grounded Action Transformation for Robot Learning in Simulation
Hanna, J. P. and Stone, P · 2017
Cited alongside, same era.
CAD2RL: Real Single-Image Flight without a Single Real Image
Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models
Chua, K., Calandra, R., McAllister, R., and Levine, S · 2018
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Sim-to-Real Transfer with Neural-Augmented Robot Simulation
Golemo, F., Taïga, A. A., Oudeyer, P.-Y., and Courville, A · 2018
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Domain Randomization for Simulation-Based Policy Optimization with Transferability Assessment
Muratore, F., Treede, F., Gienger, M., and Peters, J · 2018
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Learning Dexterous In-Hand Manipulation
OpenAI, Andrychowicz, M., Baker, B., Chociej, M., Józefowicz, R., McGrew, B., Pachocki, J., Petron, A., Plappert, M., Powell, G., Ray, A., Schneider, J., Sidor, S., Tobin, J., Welinder, P., Weng, L., and Zaremba, W · 2018
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Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
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Sadeghi, F. and Levine, S · 2017
Cited alongside, same era.
Proximal Policy Optimization Algorithms
Schulman, J., Wolski, F., Dhariwal, P., Radford, A., and Klimov, O · 2017
Cited alongside, same era.
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
Tobin, J., Fong, R., Ray, A., Schneider, J., Zaremba, W., and Abbeel, P · 2017
Cited alongside, same era.
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
Chebotar, Y., Handa, A., Makoviychuk, V., Macklin, M., Issac, J., Ratliff, N., and Fox, D · 2018
Cited alongside, same era.
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor
Haarnoja, T., Zhou, A., Abbeel, P., and Levine, S
Cited in the paper.
Soft Actor-Critic Algorithms and Applications
Haarnoja, T., Zhou, A., Hartikainen, K., Tucker, G., Ha, S., Tan, J., Kumar, V., Zhu, H., Gupta, A., Abbeel, P., and Levine, S
Cited in the paper.
Peng, X. B., Andrychowicz, M., Zaremba, W., and Abbeel, P · 2018
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Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data
Prakash, A., Boochoon, S., Brophy, M., Acuna, D., Cameracci, E., State, G., Shapira, O., and Birchfield, S · 2018
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Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
Tan, J., Zhang, T., Coumans, E., Iscen, A., Bai, Y., Hafner, D., Bohez, S., and Vanhoucke, V · 2018
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Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Koltun, V., Tsounis, V., Hutter, M., Bellicoso, D., Lee, J., and Dosovitskiy, A · 2019
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