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OpenAI · embodied AI & robot learningOpenAI · 具身智能与机器人学习

5 curated papers, code, datasets and hardware from OpenAI (0 with code), with one-line takeaways.5 个来自OpenAI的精选论文、代码、数据集与硬件（0 个附代码），均配一句话要点。

Labs are matched from each entry's affiliation field by simple name rules (data/labs.yaml); joint work appears under every lab named. Only curated entries are listed, because daily arXiv papers carry no affiliations.机构由每个条目的机构字段按名称规则匹配（data/labs.yaml），合作工作会出现在所有署名机构下。仅列出精选条目，因为每日 arXiv 论文不含机构信息。

By topic:按主题： Manipulation & Dexterous Hands操作与灵巧手 (2) · Robot Learning: RL & Imitation机器人学习：强化学习与模仿学习 (1) · Sim-to-Real & Simulators仿真与 Sim-to-Real (2)

All entries全部条目 (5)

Paper论文 2017 · OpenAI ★

Proximal Policy Optimization Algorithms

The clipped policy-gradient method behind most GPU-parallel sim-to-real locomotion and dexterity training.采用截断目标的策略梯度方法，是大多数 GPU 并行仿真训练（运动控制、灵巧操作）背后的算法。

Paper论文 · Details详情

BibTeX

@misc{schulman2017proximal,
  title = {{Proximal Policy Optimization Algorithms}},
  author = {John Schulman and Filip Wolski and Prafulla Dhariwal and Alec Radford and Oleg Klimov},
  year = {2017},
  eprint = {1707.06347},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1707.06347},
}

Robot Learning: RL & Imitation机器人学习：强化学习与模仿学习rlon-policysim

Paper论文 2019 · OpenAI

Solving Rubik's Cube with a Robot Hand

Automatic domain randomization lets a sim-trained hand policy manipulate a Rubik's cube on real hardware.自动域随机化让仿真训练的灵巧手策略在真实硬件上操作魔方。

Paper论文 · Details详情

BibTeX

@misc{openai2019solving,
  title = {{Solving Rubik's Cube with a Robot Hand}},
  author = {OpenAI and Ilge Akkaya and Marcin Andrychowicz and Maciek Chociej and Mateusz Litwin and Bob McGrew and Arthur Petron and Alex Paino and Matthias Plappert and Glenn Powell and Raphael Ribas and Jonas Schneider and Nikolas Tezak and Jerry Tworek and Peter Welinder and Lilian Weng and Qiming Yuan and Wojciech Zaremba and Lei Zhang},
  year = {2019},
  eprint = {1910.07113},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1910.07113},
}

Manipulation & Dexterous Hands操作与灵巧手Dexterous hand灵巧手sim2realhandrl

Paper论文 2018 · OpenAI

Learning Dexterous In-Hand Manipulation

A Shadow Hand reorients a cube using RL trained purely in randomized simulation — a sim-to-real milestone.完全在随机化仿真中用强化学习训练，Shadow 灵巧手在真实世界翻转方块，是 sim-to-real 里程碑。

Paper论文 · Details详情

BibTeX

@misc{openai2018learning,
  title = {{Learning Dexterous In-Hand Manipulation}},
  author = {OpenAI and Marcin Andrychowicz and Bowen Baker and Maciek Chociej and Rafal Jozefowicz and Bob McGrew and Jakub Pachocki and Arthur Petron and Matthias Plappert and Glenn Powell and Alex Ray and Jonas Schneider and Szymon Sidor and Josh Tobin and Peter Welinder and Lilian Weng and Wojciech Zaremba},
  year = {2018},
  eprint = {1808.00177},
  archivePrefix = {arXiv},
  primaryClass = {cs.LG},
  url = {https://arxiv.org/abs/1808.00177},
}

Manipulation & Dexterous Hands操作与灵巧手Dexterous hand灵巧手sim2realhandrl

Paper论文 2017 · OpenAI

Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World

Randomizing textures, lighting and cameras in sim makes vision models work on real images with no real data.在仿真中随机化纹理、光照和相机，使视觉模型无需真实数据即可在真实图像上工作。

Paper论文 · Details详情

BibTeX

@misc{tobin2017domain,
  title = {{Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World}},
  author = {Josh Tobin and Rachel Fong and Alex Ray and Jonas Schneider and Wojciech Zaremba and Pieter Abbeel},
  year = {2017},
  eprint = {1703.06907},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1703.06907},
}

Sim-to-Real & Simulators仿真与 Sim-to-Realsim2realdomain-randomization

Paper论文 2017 · OpenAI, UC Berkeley

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

Randomizing physical parameters during training yields control policies robust enough to run on a real arm.训练中随机化物理参数，得到足以在真实机械臂上运行的鲁棒控制策略。

Paper论文 · Details详情

BibTeX

@misc{peng2017sim,
  title = {{Sim-to-Real Transfer of Robotic Control with Dynamics Randomization}},
  author = {Xue Bin Peng and Marcin Andrychowicz and Wojciech Zaremba and Pieter Abbeel},
  year = {2017},
  eprint = {1710.06537},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/1710.06537},
}

Sim-to-Real & Simulators仿真与 Sim-to-Realsim2realdomain-randomizationrl