Related papers: Orbit: A Unified Simulation Framework for Interact…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper…
Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…
Recently, video transformers have shown great success in video understanding, exceeding CNN performance; yet existing video transformer models do not explicitly model objects, although objects can be essential for recognizing actions. In…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Pretrained video generation models provide strong priors for robot control, but existing unified world action models still struggle to decode reliable actions without substantial robot-specific training. We attribute this limitation to a…
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic…
We present MIDGARD, an open-source simulation platform for autonomous robot navigation in outdoor unstructured environments. MIDGARD is designed to enable the training of autonomous agents (e.g., unmanned ground vehicles) in photorealistic…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…
robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses…
Visual foundation models provide strong perceptual features for robotics, but their dense representations lack explicit object-level structure, limiting robustness and contractility in manipulation tasks. We propose STORM (Slot-based…
As autonomous driving technology is getting more and more mature today, autonomous delivery companies like Starship, Marble, and Nuro has been making progress in the tests of their autonomous delivery robots. While simulations and…
Learning a single universal policy that can perform a diverse set of manipulation tasks is a promising new direction in robotics. However, existing techniques are limited to learning policies that can only perform tasks that are encountered…
We present SimNet, an AI-driven multi-physics simulation framework, to accelerate simulations across a wide range of disciplines in science and engineering. Compared to traditional numerical solvers, SimNet addresses a wide range of use…
This technical report describes GrADyS-SIM, a framework for simulating cooperating swarms of UAVs in joint mission in hypothetical landscape and communicating through RF radios. The framework was created to aid and verify the communication,…
Many earth science applications require data at both high spatial and temporal resolution for effective monitoring of various ecosystem resources. Due to practical limitations in sensor design, there is often a trade-off in different…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…