相关论文: Sim2Real2Sim: Bridging the Gap Between Simulation …

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in…

We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first time, an efficient sim2real transfer in combination with a…

Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than 0.1 mm and can even be negative when dealing with a…

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable…

Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such as sensing the deformation of the object in the realworld.…

Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially…

Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a scalable alternative, effective sim-to-real transfer remains…

Traversing through a tilted narrow gap is previously an intractable task for reinforcement learning mainly due to two challenges. First, searching feasible trajectories is not trivial because the goal behind the gap is difficult to reach.…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

We consider the problem of transferring policies to the real world by training on a distribution of simulated scenarios. Rather than manually tuning the randomization of simulations, we adapt the simulation parameter distribution using a…

This paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on…

One fundamental difficulty in robotic learning is the sim-real gap problem. In this work, we propose to use segmentation as the interface between perception and control, as a domain-invariant state representation. We identify two sources of…

Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driven by the extensive use of simulation as a critical tool for…

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…

Object insertion under tight tolerances ($< \hspace{-.02in} 1mm$) is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent efforts focused on Reinforcement Learning (RL), which often…

Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and expensive hardware. Simulations offer a scalable alternative but often fail to achieve sim-to-real generalization due to geometric and…