相关论文: Robotic Learning in your Backyard: A Neural Simula…

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…

In this paper VisualEnv, a new tool for creating visual environment for reinforcement learning is introduced. It is the product of an integration of an open-source modelling and rendering software, Blender, and a python module used to…

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…

While reinforcement learning (RL) can empower autonomous agents by enabling self-improvement through interaction, its practical adoption remains challenging due to costly rollouts, limited task diversity, unreliable reward signals, and…

Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…

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…

It is essential for autonomous robots to be socially compliant while navigating in human-populated environments. Machine Learning and, especially, Deep Reinforcement Learning have recently gained considerable traction in the field of Social…

We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…

Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains…

This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…

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…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

Despite well-reported instances of robots being used in disaster response, there is scant published data on the internal composition of the void spaces within structural collapse incidents. Data collected during these incidents is mired in…

We present NVSim, a framework that automatically constructs large-scale, navigable indoor simulators from only common image sequences, overcoming the cost and scalability limitations of traditional 3D scanning. Our approach adapts 3D…

Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for…

This paper presents OpenGridGym, an open-source Python-based package that allows for seamless integration of distribution market simulation with state-of-the-art artificial intelligence (AI) decision-making algorithms. We present the…

An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…

Reinforcement learning (RL) has proven effective for AI-based building energy management. However, there is a lack of flexible framework to implement RL across various control problems in building energy management. To address this gap, we…