相关论文: RoboTwin: Dual-Arm Robot Benchmark with Generative…

Deep learning models have created great opportunities for data-driven fault diagnosis but they require large amount of labeled failure data for training. In this paper, we propose to use a digital twin to support developing data-driven…

Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks,…

We introduce Robowheel, a data engine that converts human hand object interaction (HOI) videos into training-ready supervision for cross morphology robotic learning. From monocular RGB or RGB-D inputs, we perform high precision HOI…

The concept of Digital Twin (DT) is increasingly applied to systems on different levels of abstraction across domains, to support monitoring, analysis, diagnosis, decision making and automated control. Whilst the interest in applying DT is…

Digital network twin is a promising technology that replicates real-world networks in real-time and assists with the design, operation, and management of next-generation networks. However, existing approaches (e.g., simulator-based and…

We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments,…

Brain digital twins aim to provide faithful, individualized computational representations of brains as dynamical systems, enabling mechanistic understanding and supporting prediction of clinical interventions. Yet current approaches remain…

Open-world object manipulation remains a fundamental challenge in robotics. While Vision-Language-Action (VLA) models have demonstrated promising results, they rely heavily on large-scale robot action demonstrations, which are costly to…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…

Generating realistic, context-aware two-person motion conditioned on diverse modalities remains a fundamental challenge for graphics, animation and embodied AI systems. Real-world applications such as VR/AR companions, social robotics and…

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

This paper evaluates single-view mesh reconstruction models for their potential in enabling instant digital twin creation for real-time planning and dynamics prediction using physics simulators for robotic manipulation. Recent single-view…

Digital twins today are almost entirely visual, overlooking acoustics-a core component of spatial realism and interaction. We introduce AV-Twin, the first practical system that constructs editable audio-visual digital twins using only…

Embodied AI training and evaluation require object-centric digital twin environments with accurate metric geometry and semantic grounding. Recent transformer-based feedforward reconstruction methods can efficiently predict global point…

When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…

Prior robot painting and drawing work, such as FRIDA, has focused on decreasing the sim-to-real gap and expanding input modalities for users, but the interaction with these systems generally exists only in the input stages. To support…

The rapidly growing number of product categories in large-scale e-commerce makes accurate object identification for automated packing in warehouses substantially more difficult. As the catalog grows, intra-class variability and a long tail…

Reinforcement learning is applied to solve actual complex tasks from high-dimensional, sensory inputs. The last decade has developed a long list of reinforcement learning algorithms. Recent progress benefits from deep learning for raw…