Related papers: Assessing virtualization effects in simulations of…

This paper reports on the state of the art of virtualization technology for both general purpose domains as well as real-time domains. There exits no entirely instantaneous data transmission/transfer. There always exist a delay while…

Over the past two decades, the cloud computing paradigm has gradually attracted more popularity due to its efficient resource usage and simple service access model. Virtualization technology is the fundamental element of cloud computing…

We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value,…

We present an experiment exploring how the controller's virtual representation impacts target acquisition performance across MR and VR contexts. Participants performed selection tasks comparing four visual configurations: a virtual…

Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simple yet effective technique to address dynamics discrepancies…

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a~shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks to elucidate basic principles of this sim-and-real cotraining…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…

Consider $n$ iid random variables, where $\xi_1, \ldots, \xi_n$ are $n$ realisations of a random variable $\xi$ and $\zeta_1, \ldots, \zeta_n$ are $n$ realisations of a random variable $\zeta$. The distribution of each realisation of $\xi$,…

In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation from a psychophysical perspective, therefore we use a…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

Virtualization technology allows currently any application run any application complex and expensive computational (the scientific applications are a good example) on heterogeneous distributed systems, which make regular use of Grid and…

Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…

As the computer vision matures into a systems science and engineering discipline, there is a trend in leveraging latest advances in computer graphics simulations for performance evaluation, learning, and inference. However, there is an open…