相关论文: EAGERx: Graph-Based Framework for Sim2real Robot L…

The robotics field is evolving towards data-driven, end-to-end learning, inspired by multimodal large models. However, reliance on expensive real-world data limits progress. Simulators offer cost-effective alternatives, but the gap between…

The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data. However, collecting such embodied data remains costly and inefficient. As a result, simulation environments have become a…

Sim-to-real gap has long posed a significant challenge for robot learning in simulation, preventing the deployment of learned models in the real world. Previous work has primarily focused on domain randomization and system identification to…

Sim-to-real transfer remains a critical bottleneck for deploying dexterous manipulation policies learned in simulation to real-world robots. Existing approaches rely on manually designed domain randomization or task-specific adaptation,…

Entity Resolution (ER) is a constitutional part for integrating different knowledge graphs in order to identify entities referring to the same real-world object. A promising approach is the use of graph embeddings for ER in order to…

The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper,…

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

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…

Ideally, we would place a robot in a real-world environment and leave it there improving on its own by gathering more experience autonomously. However, algorithms for autonomous robotic learning have been challenging to realize in the real…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

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…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

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…

Numerical simulations are ubiquitous in science and engineering. Machine learning for science investigates how artificial neural architectures can learn from these simulations to speed up scientific discovery and engineering processes. Most…

If we want to train robots in simulation before deploying them in reality, it seems natural and almost self-evident to presume that reducing the sim2real gap involves creating simulators of increasing fidelity (since reality is what it is).…

Recently, deep reinforcement learning (RL) has shown some impressive successes in robotic manipulation applications. However, training robots in the real world is nontrivial owing to sample efficiency and safety concerns. Sim-to-real…

We present Sadcher, a real-time task assignment framework for heterogeneous multi-robot teams that incorporates dynamic coalition formation and task precedence constraints. Sadcher is trained through Imitation Learning and combines graph…