相关论文: Re$^3$Sim: Generating High-Fidelity Simulation Dat…

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…

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…

Material generalization is essential for real-world robotic manipulation, where robots must interact with objects exhibiting diverse visual and physical properties. This challenge is particularly pronounced for objects made of glass, metal,…

Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…

Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…

Sim2Real (Simulation to Reality) techniques have gained prominence in robotic manipulation and motion planning due to their ability to enhance success rates by enabling agents to test and evaluate various policies and trajectories. In this…

Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However, previous methods mainly focused on environment-level…

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…

Automation holds the potential to assist surgeons in robotic interventions, shifting their mental work load from visuomotor control to high level decision making. Reinforcement learning has shown promising results in learning complex…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

In robotic vision, a de-facto paradigm is to learn in simulated environments and then transfer to real-world applications, which poses an essential challenge in bridging the sim-to-real domain gap. While mainstream works tackle this problem…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

Sim-to-real is a mainstream method to cope with the large number of trials needed by typical deep reinforcement learning methods. However, transferring a policy trained in simulation to actual hardware remains an open challenge due to the…

Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial distribution of objects, environment and agent itself. To…

Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from the sim-to-real visual gap and the human-to-robot embodiment…

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.…

The default strategy for training single-view Large Reconstruction Models (LRMs) follows the fully supervised route using large-scale datasets of synthetic 3D assets or multi-view captures. Although these resources simplify the training…

Deep learning approaches have become the standard solution to many problems in computer vision and robotics, but obtaining sufficient training data in high enough quality is challenging, as human labor is error prone, time consuming, and…

Recently,vision-based robotic manipulation has garnered significant attention and witnessed substantial advancements. 2D image-based and 3D point cloud-based policy learning represent two predominant paradigms in the field, with recent…

State-of-the-art video generation models produce remarkable photorealism, but they lack the precise control required to align generated content with specific scene requirements. Furthermore, without an underlying explicit geometry, these…