相关论文: SIM2REALVIZ: Visualizing the Sim2Real Gap in Robot…

EasyVis2 is a system designed to provide hands-free, real-time 3D visualization for laparoscopic surgery. It incorporates a surgical trocar equipped with an array of micro-cameras, which can be inserted into the body cavity to offer an…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…

Synthetic data and novel rendering techniques have greatly influenced computer vision research in tasks like target tracking and human pose estimation. However, robotics research has lagged behind in leveraging it due to the limitations of…

Rapid improvements in the performance of machine learning models have pushed them to the forefront of data-driven decision-making. Meanwhile, the increased integration of these models into various application domains has further highlighted…

Learning meaningful and compact representations with disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

To date, little attention has been given to multi-view 3D human mesh estimation, despite real-life applicability (e.g., motion capture, sport analysis) and robustness to single-view ambiguities. Existing solutions typically suffer from poor…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…

Estimating the pose of animals can facilitate the understanding of animal motion which is fundamental in disciplines such as biomechanics, neuroscience, ethology, robotics and the entertainment industry. Human pose estimation models have…

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…

For many practical problems and applications, it is not feasible to create a vast and accurately labeled dataset, which restricts the application of deep learning in many areas. Semi-supervised learning algorithms intend to improve…

Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…

We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies before deployment, and sim-to-real methods, which require…

In robotics, gradient-free optimization algorithms (e.g. evolutionary algorithms) are often used only in simulation because they require the evaluation of many candidate solutions. Nevertheless, solutions obtained in simulation often do not…

Modeling cameras for the simulation of autonomous robotics is critical for generating synthetic images with appropriate realism to effectively evaluate a perception algorithm in simulation. In many cases though, simulated images are…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

Robots working in unstructured environments must be capable of sensing and interpreting their surroundings. One of the main obstacles of deep-learning-based models in the field of robotics is the lack of domain-specific labeled data for…

Monocular estimation of 3d human pose has attracted increased attention with the availability of large ground-truth motion capture datasets. However, the diversity of training data available is limited and it is not clear to what extent…

The research field of Embodied AI has witnessed substantial progress in visual navigation and exploration thanks to powerful simulating platforms and the availability of 3D data of indoor and photorealistic environments. These two factors…