ArXiv.org最新文献
筛选
英文
中文
SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer
SPiDR：模拟到真实传输中零射击安全的简单方法
Yarden As, Chenyuan Qu, Benjamin Unger, Dong‐Ho Kang, van der Hart, Max, Laixi Shi, Stelian Coros, Adam Wierman, Andreas Krause
{"title":"SPiDR: A Simple Approach for Zero-Shot Safety in Sim-to-Real Transfer","authors":"Yarden As, Chenyuan Qu, Benjamin Unger, Dong‐Ho Kang, van der Hart, Max, Laixi Shi, Stelian Coros, Adam Wierman, Andreas Krause","doi":"10.48550/arxiv.2509.18648","DOIUrl":"https://doi.org/10.48550/arxiv.2509.18648","url":null,"abstract":"Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques are provably safe, however difficult to scale, while domain randomization is more practical yet prone to unsafe behaviors. We address this gap by proposing SPiDR, short for Sim-to-real via Pessimistic Domain Randomization -- a scalable algorithm with provable guarantees for safe sim-to-real transfer. SPiDR uses domain randomization to incorporate the uncertainty about the sim-to-real gap into the safety constraints, making it versatile and highly compatible with existing training pipelines. Through extensive experiments on sim-to-sim benchmarks and two distinct real-world robotic platforms, we demonstrate that SPiDR effectively ensures safety despite the sim-to-real gap while maintaining strong performance.","PeriodicalId":522221,"journal":{"name":"ArXiv.org","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://arxiv.org/pdf/2509.18648","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147893623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
影响因子
展开
类型
展开
期刊
展开
全部
Acc. Chem. Res.
ACS Applied Bio Materials
ACS Appl. Electron. Mater.
ACS Appl. Energy Mater.
ACS Appl. Mater. Interfaces
ACS Appl. Nano Mater.
ACS Appl. Polym. Mater.
ACS BIOMATER-SCI ENG
ACS Catal.
ACS Cent. Sci.
ACS Chem. Biol.
ACS Chemical Health & Safety
ACS Chem. Neurosci.
ACS Comb. Sci.
ACS Earth Space Chem.
ACS Energy Lett.
ACS Infect. Dis.
ACS Macro Lett.
ACS Mater. Lett.
ACS Med. Chem. Lett.
ACS Nano
ACS Omega
ACS Photonics
ACS Sens.
ACS Sustainable Chem. Eng.
ACS Synth. Biol.
Anal. Chem.
BIOCHEMISTRY-US
Bioconjugate Chem.
BIOMACROMOLECULES
Chem. Res. Toxicol.
Chem. Rev.
Chem. Mater.
CRYST GROWTH DES
ENERG FUEL
Environ. Sci. Technol.
Environ. Sci. Technol. Lett.
Eur. J. Inorg. Chem.
IND ENG CHEM RES
Inorg. Chem.
J. Agric. Food. Chem.
J. Chem. Eng. Data
J. Chem. Educ.
J. Chem. Inf. Model.
J. Chem. Theory Comput.
J. Med. Chem.
J. Nat. Prod.
J PROTEOME RES
J. Am. Chem. Soc.
LANGMUIR
MACROMOLECULES
Mol. Pharmaceutics
Nano Lett.
Org. Lett.
ORG PROCESS RES DEV
ORGANOMETALLICS
J. Org. Chem.
J. Phys. Chem.
J. Phys. Chem. A
J. Phys. Chem. B
J. Phys. Chem. C
J. Phys. Chem. Lett.
Analyst
Anal. Methods
Biomater. Sci.
Catal. Sci. Technol.
Chem. Commun.
Chem. Soc. Rev.
CHEM EDUC RES PRACT
CRYSTENGCOMM
Dalton Trans.
Energy Environ. Sci.
ENVIRON SCI-NANO
ENVIRON SCI-PROC IMP
ENVIRON SCI-WAT RES
Faraday Discuss.
Food Funct.
Green Chem.
Inorg. Chem. Front.
Integr. Biol.
J. Anal. At. Spectrom.
J. Mater. Chem. A
J. Mater. Chem. B
J. Mater. Chem. C
Lab Chip
Mater. Chem. Front.
Mater. Horiz.
MEDCHEMCOMM
Metallomics
Mol. Biosyst.
Mol. Syst. Des. Eng.
Nanoscale
Nanoscale Horiz.
Nat. Prod. Rep.
New J. Chem.
Org. Biomol. Chem.
Org. Chem. Front.
PHOTOCH PHOTOBIO SCI
PCCP
Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX
EndNote
RefMan
NoteFirst
NoteExpress
求助内容：
应助结果提醒方式：请完成安全验证×
京公网安备 11010802042870号
