相关论文: RoboTwin: Dual-Arm Robot Benchmark with Generative…
As the manufacturing industry shifts from mass production to mass customization, there is a growing emphasis on adopting agile, resilient, and human-centric methodologies in line with the directives of Industry 5.0. Central to this…
Generative AI is a technology which depends in part on participation by humans in training and improving the automation potential. We focus on the development of an "AI twin" that could complement its creator's efforts, enabling them to…
Datacenters are the backbone of our digital society, but raise numerous operational challenges. We envision digital twins becoming primary instruments in datacenter operations, continuously and autonomously helping with major operational…
The concept of creating digital twins, connected digital models of physical systems, is gaining increasing attention for modeling and simulation of whole cities. The basis for building a digital twin of a city is the generation of a 3D city…
Scalable Embodied AI faces fundamental constraints due to prohibitive costs and safety risks of real-world interaction. While Embodied World Models (EWMs) offer promise through imagined rollouts, existing approaches suffer from geometric…
Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…
This article presents UrbanTwin datasets, high-fidelity, realistic replicas of three public roadside lidar datasets: LUMPI, V2X-Real-IC, and TUMTraf-I. Each UrbanTwin dataset contains 10K annotated frames corresponding to one of the public…
Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning, but achieving reliable and responsible…
This paper explores the opportunities of using a digital twin to address the complexities of collaborative production systems through an industrial case and a demonstrator. A digital twin, as a virtual counterpart of a physical human-robot…
In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is proposed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also enables…
With the continued growth of its core technologies, including the Internet of Things (IoT), artificial intelligence (AI), Big Data and data analytics, and edge computing, digital twin (DT) technology has witnessed a significant increase in…
Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…
The emergence of beyond 5G (B5G) and 6G networks underscores the critical role of advanced computer-aided tools, such as network digital twins (DTs), in fostering autonomous networks and ubiquitous intelligence. Existing solutions in the DT…
Bimanual coordination is essential for many real-world manipulation tasks, yet learning bimanual robot policies is limited by the scarcity of bimanual robots and datasets. Single-arm robots, however, are widely available in research labs.…
Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as camera calibration or the need for controlled environments…
Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to…
Digital Twin technology is playing a pivotal role in the modern industrial evolution. Especially, with the technological progress in the Internet-of-Things (IoT) and the increasing trend in autonomy, multi-sensor equipped robotics can…
This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare…
Digital twins have emerged as a powerful technology for modeling and simulating complex systems across various domains (Fuller et al., 2020; Tao et al., 2019). As virtual representations of physical assets, processes, or systems, digital…
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are predefined and difficult to extend. This paradigm limits…