Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 23 for “"Sim-to-real"”.
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Learning Sim-to-Real Robot Parkour from RGB Images
… jumping. These successes are largely attributed to depth-based visual locomotion policies, known for their robust transferability between simulated and real-world environments (sim-to-real). However, depth information inherently lacks the semantic information present in RGB images. This thesis …
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Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation
… moving beyond traditional tracking rewards—which simply guide the robot along a reference trajectory—to task rewards that drive truly dynamic, goal-oriented behaviors. Commands such as “throw the ball as far as you can” or “lift the weight as quickly as possible” compel the robot to exhibit the …
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Towards adaptative wheeled humanoid control: Leveraging fast parameter estimation and sim-to-real adaptation
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-08-01
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Deep Reinforcement Learning for Multirotor Flight Control: A Comparative Study of Sim-to-Real Training and Real-World Performance
… (DRL) for low-level flight control of multirotor unmanned aerial vehicles (UAVs), focusing on factors that most influence sim-to-real policy transfer. Using the Proximal Policy Optimization (PPO) algorithm, extensive ablation studies evaluated the effects of domain randomization, reward …
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Improved Friction and Dynamics Estimation in Legged Robots
Reducing the Sim-to-Real gap between robot simulation and robot performance could lead to improved and more efficient robot design through more accurate controls and design testing in simulation and through more accurate state detection for model-based control architectures. This work built upon …
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Computational Discovery of Microstructured Composites with Optimized Trade-Off between Strength and Toughness
The conflict between strength and toughness is critical to practical engineering problems. To create structural composites with extraordinary strength and toughness, previous works mainly drew inspiration from nature and attempted to replicate nacrelike structures in synthetic composites using a …
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Learning-based cooperative perception and control for multi-robot systems
Multi-robot systems (MRS) are key to addressing complex real-world problems through the coordination of multiple autonomous agents but are burdened by the curse of dimensionality, which compounds the difficulty of applying solutions to large-scale problem instances. The use of learning-based …
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Deploying Reinforcement Learning in the Real World: A Case Study on Apptronik Apollo
… has gained increasing popularity as an approach to achieving dynamic behaviors on legged robots. However, transferring RL behaviors from simulation to reality is a challenging process: imperfect sensors, simulation models, control architecture, and latency all present obstacles to successfully …
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Robust Scene and Object Generalization of Neural Policies Trained in Synthetic Environments
Achieving generalization for autonomous robotic systems operating in real-world environments remains a significant challenge. Training robots solely in simulations can be limiting due to the "sim-to-real gap"– discrepancies between simulated and real-world conditions. We present two novel …
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Residual Model Learning for Microrobot Control
… using compliant materials that are difficult to model analytically, limiting the utility of traditional model-based controllers. Challenges in data collection on microrobots and large errors between simulated models and real robots make current model-based learning and sim-to-real transfer …
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RGB-D Likelihood for 3D Inverse Graphics
… modeling the gap between 3D graphics and real-world data. We propose a novel 3D Neural Embedding Likelihood (3DNEL) over RGB-D images to address this gap. 3DNEL uses neural embeddings to predict 2D-3D correspondences from RGB and combines this with depth in a principled manner. 3DNEL is …
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Generative Latent Motion Planning and Reinforcement Learning for Legged Locomotion
… has demonstrated its promise as a powerful tool for developing innovative and advanced control systems for legged robots. The method’s robustness, versatility, and generality have made it a prime candidate for future robotic systems deployed in the real world. Through the development of more …
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Vision-based proprioception and tactile sensing for soft robots
Soft pneumatic manipulators are attractive for industrial and human-interactive tasks because of their inherent compliance, yet practical deployment demands accurate proprioception and tactile feedback. This thesis introduces a compact, vision-based sensing framework that delivers both modalities …
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Digital Twin Platform for Drone Applications
Simulation tools and digital twins are vital to UAV research, enabling efficient prototyping, testing, and deployment of algorithms in dynamics, control, computer vision, and deep learning. Despite their importance, existing simulators face limitations in modularity, scalability, and …
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Motion Planning For Autonomous Vehicles In Non-Signalized Intersections
Real-time path generation, including collision checks, is vital in critical driving scenarios such as navigating non-signalized intersections. These intersections lack organized traffic flow, which raises the risk of accidents. Rapidly Exploring Random Trees (RRT) is a widely adopted algorithm in …
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Intelligent robotics with digital-twin alignment : semantic navigation, manipulation, planning, and human-to-robot action transformation
… manipulation, semantic planning, and human-to-robot action transformation within a digital-twin-aligned framework. GRIP, a grid-aware semantic navigation module, integrates symbolic scene understanding with hybrid search-and-policy execution to achieve robust and context-aware ObjectNav. …
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Photorealistic sensor simulation for perception-driven robotics using virtual reality
… perception-driven robotic systems (e.g. quadrotor vehicles) for complex tasks at operational speeds. Although much progress has been made towards that end in the fields of online-planning, fast-perception, and agile-control, most robotic systems are still confined to controlled laboratory …
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Safe Object Manipulation Strategies Using Tactile Sensors
… introduces several tactile-based methodologies to enhance the manipulation performance and safety of robotic systems. Before presenting these methods, the dissertation offers a high-level overview of tactile feedback in human manipulation tasks. Research indicates that humans divide manipulation …
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Application of Co-Design Principles for Design of Series Elastic Joints
… adopted approach for introducing compliance into robotic joints is the use of Series Elastic Actuators (SEAs). Designing SEAs, however, requires balancing the stiffness of the elastic element with the structure and gains of the control system, as both strongly influence actuator bandwidth, …
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Intelligent Decision-Making for Autonomous Driving in Dynamic and Interactive Environments
… is crucial for safe and efficient driving in autonomous vehicles (AVs). However, AVs face significant challenges in coexisting with human road users, making fast and optimal driving decisions, and operating in unknown traffic environments with only incomplete information. Unsignalized …
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