相关论文: RoboTwin 2.0: A Scalable Data Generator and Benchm…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…

The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…

The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations…

Complex IoT ecosystems often require the usage of Digital Twins (DTs) of their physical assets in order to perform predictive analytics and simulate what-if scenarios. DTs are able to replicate IoT devices and adapt over time to their…

Large-scale and diverse datasets are vital for training robust robotic manipulation policies, yet existing data collection methods struggle to balance scale, diversity, and quality. Simulation offers scalability but suffers from sim-to-real…

Robotic manipulation systems operating in diverse, dynamic environments must exhibit three critical abilities: multitask interaction, generalization to unseen scenarios, and spatial memory. While significant progress has been made in…

Recently, synthetic data generation and realistic rendering has advanced tasks like target tracking and human pose estimation. Simulations for most robotics applications are obtained in (semi)static environments, with specific sensors and…

Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods,…

In this paper, we present a novel framework that combines large language models (LLMs), digital twins and industrial automation system to enable intelligent planning and control of production processes. We retrofit the automation system for…

This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

Although digital twins have recently emerged as a clear alternative for reliable asset representations, most of the solutions and tools available for the development of digital twins are tailored to specific environments. Furthermore,…

The acquisition of large-scale and diverse demonstration data are essential for improving robotic imitation learning generalization. However, generating such data for complex manipulations is challenging in real-world settings. We introduce…

Most successes in robotic manipulation have been restricted to single-arm gripper robots, whose low dexterity limits the range of solvable tasks to pick-and-place, inser-tion, and object rearrangement. More complex tasks such as assembly…

Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…

Collecting real-world data for rare high-risk scenarios, long-tailed driving events, and complex interactions remains challenging, leading to poor performance of existing autonomous driving systems in these critical situations. In this…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

Document understanding (VRDU) in regulated domains is particularly challenging, since scanned documents often contain sensitive, evolving, and domain specific knowledge. This leads to two major challenges: the lack of manual annotations for…