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

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations…

Manipulation and locomotion are closely related problems that are often studied in isolation. In this work, we study the problem of coordinating multiple mobile agents to exhibit manipulation behaviors using a reinforcement learning (RL)…

Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects…

Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…

Sim-to-real, a term that describes where a model is trained in a simulator then transferred to the real world, is a technique that enables faster deep reinforcement learning (DRL) training. However, differences between the simulator and the…

The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation. Conventional physics engines often trade accuracy for…

High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…

This report presents the debates, posters, and discussions of the Sim2Real workshop held in conjunction with the 2020 edition of the "Robotics: Science and System" conference. Twelve leaders of the field took competing debate positions on…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

Robots can learn to do complex tasks in simulation, but often, learned behaviors fail to transfer well to the real world due to simulator imperfections (the reality gap). Some existing solutions to this sim-to-real problem, such as Grounded…

Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…

This paper presents a correspondence-free, function-based sim-to-real learning method for controlling deformable freeform surfaces. Unlike traditional sim-to-real transfer methods that strongly rely on marker points with full…

While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learning paradigms rely on either costly and unsafe real-world data…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…

Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a novel RL-based pipeline equipped with variable impedance…