相关论文: Triple Regression for Camera Agnostic Sim2Real Rob…

Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple…

Vision-based policies for robot manipulation have achieved significant recent success, but are still brittle to distribution shifts such as camera viewpoint variations. Robot demonstration data is scarce and often lacks appropriate…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…

In this work, we propose a sim2real method to transfer and adapt a nonlinear model predictive controller (NMPC) from simulation to the real target system based on executable digital twin (xDT). The xDT model is a high fidelity vehicle…

Realizing the potential gains of large-scale MIMO systems requires the accurate estimation of their channels or the fine adjustment of their narrow beams. This, however, is typically associated with high channel acquisition/beam sweeping…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

Simulation to Real-World Transfer allows affordable and fast training of learning-based robots for manipulation tasks using Deep Reinforcement Learning methods. Currently, Sim2Real uses Asymmetric Actor-Critic approaches to reduce the rich…

Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation, developing…

Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

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…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

This paper presents Dual Action Policy (DAP), a novel approach to address the dynamics mismatch inherent in the sim-to-real gap of reinforcement learning. DAP uses a single policy to predict two sets of actions: one for maximizing task…

Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this paper, we propose SplatSim,…

Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low cost. However, prior works in sim-to-real…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a…