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Due to the lack of enough real multi-agent data and time-consuming of labeling, existing multi-agent cooperative perception algorithms usually select the simulated sensor data for training and validating. However, the perception performance…

Many industrial processes require suitable controllers to meet their performance requirements. More often, a sophisticated digital twin is available, which is a highly complex model that is a virtual representation of a given physical…

Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…

High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…

Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…

Morphology of a robot design is important to its ability to achieve a stated goal and therefore applying machine learning approaches that incorporate morphology in the design space can provide scope for significant advantage. Our study is…

Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high durability and tactile density. However, the large sim-to-real…

Sim2real, that is, the transfer of learned control policies from simulation to real world, is an area of growing interest in robotics due to its potential to efficiently handle complex tasks. The sim2real approach faces challenges due to…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards that drive truly dynamic, goal-oriented behaviors. Commands…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…

Simulation-based testing of automated driving systems (ADS) is the industry standard, being a controlled, safe, and cost-effective alternative to real-world testing. Despite these advantages, virtual simulations often fail to accurately…

Mobile network that millions of people use every day is one of the most complex systems in the world. Optimization of mobile network to meet exploding customer demand and reduce capital/operation expenditures poses great challenges. Despite…

This chapter addresses the critical challenge of simulation-to-reality (sim-to-real) transfer for deep reinforcement learning (DRL) in bipedal locomotion. After contextualizing the problem within various control architectures, we dissect…

Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…

Reinforcement Learning (RL) or Deep Reinforcement Learning (DRL) is a powerful approach to solving Markov Decision Processes (MDPs) when the model of the environment is not known a priori. However, RL models are still faced with challenges…

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize…

The use of machine learning in cyber-physical systems has attracted the interest of both industry and academia. However, no general solution has yet been found against the unpredictable behavior of neural networks and reinforcement learning…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…