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

Recent progress in robot learning has been driven by large-scale datasets and powerful visuomotor policy architectures, yet policy robustness remains limited by the substantial cost of collecting diverse demonstrations, particularly for…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…

Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong…

Advances in large vision-language models (VLMs) have stimulated growing interest in vision-language-action (VLA) systems for robot manipulation. However, existing manipulation datasets remain costly to curate, highly embodiment-specific,…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Data augmentation using generative models has emerged as a powerful paradigm for enhancing performance in computer vision tasks. However, most existing augmentation approaches primarily focus on optimizing intrinsic data attributes -- such…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs,…

Dexterous manipulation is critical for advancing robot capabilities in real-world applications, yet diverse and high-quality datasets remain scarce. Existing data collection methods either rely on human teleoperation or require significant…

The ability to reason, adapt, and creatively solve problems under unexpected challenges is essential for robots operating in real-world environments. However, current robotic benchmarks primarily emphasize skill-level execution and provide…

Scaling robot learning requires vast and diverse datasets. Yet the prevailing data collection paradigm-human teleoperation-remains costly and constrained by manual effort and physical robot access. We introduce Real2Render2Real (R2R2R), a…

Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets. However, challenges remain in applying these models to 3D spatial interactions and managing data collection costs. To address…

Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…

Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, large-scale datasets. Prior frameworks…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…