Guiding evolutionary strategies by (inaccurate) differentiable robot simulators @ NeurIPS, 4th Robot Learning Workshop

Overview

Guiding Evolutionary Strategies by Differentiable Robot Simulators

In recent years, Evolutionary Strategies were actively explored in robotic tasks for policy search as they provide a simpler alternative to reinforcement learning algorithms. However, this class of algorithms is often claimed to be extremely sample-inefficient. On the other hand, there is a growing interest in Differentiable Robot Simulators (DRS) as they potentially can find successful policies with only a handful of trajectories. But the resulting gradient is not always useful for the first-order optimization. In this work, we demonstrate how DRS gradient can be used in conjunction with Evolutionary Strategies. Preliminary results suggest that this combination can reduce sample complexity of Evolutionary Strategies by 3x-5x times in both simulation and the real world.

To appear in 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning

Paper -- Video -- Poster

poster

Citation

Please use the following Bibtex entry:

@misc{kurenkov2021guiding,
      title={Guiding Evolutionary Strategies by Differentiable Robot Simulators}, 
      author={Vladislav Kurenkov and Bulat Maksudov},
      year={2021},
      eprint={2110.00438},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}
Owner
Vladislav Kurenkov
Vladislav Kurenkov
PyTorch implementations of deep reinforcement learning algorithms and environments

Deep Reinforcement Learning Algorithms with PyTorch This repository contains PyTorch implementations of deep reinforcement learning algorithms and env

Petros Christodoulou 4.7k Jan 04, 2023
Plug-n-Play Reinforcement Learning in Python with OpenAI Gym and JAX

coax is built on top of JAX, but it doesn't have an explicit dependence on the jax python package. The reason is that your version of jaxlib will depend on your CUDA version.

128 Dec 27, 2022
The Official Repository for "Generalized OOD Detection: A Survey"

Generalized Out-of-Distribution Detection: A Survey 1. Overview This repository is with our survey paper: Title: Generalized Out-of-Distribution Detec

Jingkang Yang 338 Jan 03, 2023
This is the face keypoint train code of project face-detection-project

face-key-point-pytorch 1. Data structure The structure of landmarks_jpg is like below: |--landmarks_jpg |----AFW |------AFW_134212_1_0.jpg |------AFW_

I‘m X 3 Nov 27, 2022
pytorch implementation of openpose including Hand and Body Pose Estimation.

pytorch-openpose pytorch implementation of openpose including Body and Hand Pose Estimation, and the pytorch model is directly converted from openpose

Hzzone 1.4k Jan 07, 2023
harmonic-percussive-residual separation algorithm wrapped as a VST3 plugin (iPlug2)

Harmonic-percussive-residual separation plug-in This work is a study on the plausibility of a sines-transients-noise decomposition inspired algorithm

Derp Learning 9 Sep 01, 2022
Stacked Generative Adversarial Networks

Stacked Generative Adversarial Networks This repository contains code for the paper "Stacked Generative Adversarial Networks", CVPR 2017. Part of the

Xun Huang 241 May 07, 2022
Defocus Map Estimation and Deblurring from a Single Dual-Pixel Image

Defocus Map Estimation and Deblurring from a Single Dual-Pixel Image This repository is an implementation of the method described in the following pap

21 Dec 15, 2022
Event queue (Equeue) dialect is an MLIR Dialect that models concurrent devices in terms of control and structure.

Event Queue Dialect Event queue (Equeue) dialect is an MLIR Dialect that models concurrent devices in terms of control and structure. Motivation The m

Cornell Capra 23 Dec 08, 2022
Python program that works as a contact list

Lista de Contatos Programa em Python que funciona como uma lista de contatos. Features Adicionar novo contato Remover contato Atualizar contato Pesqui

Victor B. Lino 3 Dec 16, 2021
Code for "LoRA: Low-Rank Adaptation of Large Language Models"

LoRA: Low-Rank Adaptation of Large Language Models This repo contains the implementation of LoRA in GPT-2 and steps to replicate the results in our re

Microsoft 394 Jan 08, 2023
Compact Bidirectional Transformer for Image Captioning

Compact Bidirectional Transformer for Image Captioning Requirements Python 3.8 Pytorch 1.6 lmdb h5py tensorboardX Prepare Data Please use git clone --

YE Zhou 19 Dec 12, 2022
CVPR2021 Workshop - HDRUNet: Single Image HDR Reconstruction with Denoising and Dequantization.

HDRUNet [Paper Link] HDRUNet: Single Image HDR Reconstruction with Denoising and Dequantization By Xiangyu Chen, Yihao Liu, Zhengwen Zhang, Yu Qiao an

XyChen 105 Dec 20, 2022
Learning from graph data using Keras

Steps to run = Download the cora dataset from this link : https://linqs.soe.ucsc.edu/data unzip the files in the folder input/cora cd code python eda

Mansar Youness 64 Nov 16, 2022
Deep Federated Learning for Autonomous Driving

FADNet: Deep Federated Learning for Autonomous Driving Abstract Autonomous driving is an active research topic in both academia and industry. However,

AIOZ AI 12 Dec 01, 2022
Meshed-Memory Transformer for Image Captioning. CVPR 2020

M²: Meshed-Memory Transformer This repository contains the reference code for the paper Meshed-Memory Transformer for Image Captioning (CVPR 2020). Pl

AImageLab 422 Dec 28, 2022
Repositório da disciplina de APC, no segundo semestre de 2021

NOTAS FINAIS: https://github.com/fabiommendes/apc2018/blob/master/nota-final.pdf Algoritmos e Programação de Computadores Este é o Git da disciplina A

16 Dec 16, 2022
学习 python3 以来写的一些垃圾玩具……

和东哥做兄弟 Author: chiupam 版权 未经本人同意,仓库内所有资源文件,禁止任何公众号、自媒体、开发者进行任何形式的转载、发布、搬运。 声明 这不是一个开源项目,只是把 GitHub 当作一个代码的存储空间,本项目不接受任何开源要求。 仅用于学习研究,禁止用于商业用途,不能保证其合法性

Chiupam 67 Mar 26, 2022
Lightweight, Portable, Flexible Distributed/Mobile Deep Learning with Dynamic, Mutation-aware Dataflow Dep Scheduler; for Python, R, Julia, Scala, Go, Javascript and more

Apache MXNet (incubating) for Deep Learning Apache MXNet is a deep learning framework designed for both efficiency and flexibility. It allows you to m

The Apache Software Foundation 20.2k Jan 08, 2023
Official Repository for "Robust On-Policy Data Collection for Data Efficient Policy Evaluation" (NeurIPS 2021 Workshop on OfflineRL).

Robust On-Policy Data Collection for Data-Efficient Policy Evaluation Source code of Robust On-Policy Data Collection for Data-Efficient Policy Evalua

Autonomous Agents Research Group (University of Edinburgh) 2 Oct 09, 2022