相关论文: SplatSim: Zero-Shot Sim2Real Transfer of RGB Manip…

Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…

The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

Cross-domain transfer in robotic manipulation remains a longstanding challenge due to the significant domain gap between simulated and real-world environments. Existing methods such as domain randomization, adaptation, and sim-real…

Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner.…

Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…

Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to…

The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…

The emergence of 3D Gaussian Splatting for fast and high-quality novel view synthesize has opened up the possibility to construct photo-realistic simulations from video for robotic reinforcement learning. While the approach has been…

We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient…

We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…

This paper introduces a novel pipeline for generating large-scale, highly realistic, and automatically labeled datasets for computer vision tasks in robotic environments. Our approach addresses the critical challenges of the domain gap…

Computer vision technologies markedly enhance the automation capabilities of robotic-assisted minimally invasive surgery (RAMIS) through advanced tool tracking, detection, and localization. However, the limited availability of comprehensive…