相关论文: The Sound of Simulation: Learning Multimodal Sim-t…

Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…

The hype about sensorimotor learning is currently reaching high fever, thanks to the latest advancement in deep learning. In this paper, we present an open-source framework for collecting large-scale, time-synchronised synthetic data from…

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…

We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or…

Simulation plays a key role in scaling robot learning and validating policies, but constructing simulations remains a labor-intensive process. This paper introduces ReGen, a generative simulation framework that automates simulation design…

World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Current video models fail as world model as they lack fine-graiend control. General-purpose household robots require real-time fine motor control to handle delicate tasks and urgent situations. In this work, we introduce fine-grained…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Robotic simulation today remains challenging to scale up due to the human efforts required to create diverse simulation tasks and scenes. Simulation-trained policies also face scalability issues as many sim-to-real methods focus on a single…

Generating sound effects for videos often requires creating artistic sound effects that diverge significantly from real-life sources and flexible control in the sound design. To address this problem, we introduce MultiFoley, a model…

Developing embodied agents in simulation has been a key research topic in recent years. Exciting new tasks, algorithms, and benchmarks have been developed in various simulators. However, most of them assume deaf agents in silent…

When designing robots to assist in everyday human activities, it is crucial to enhance user requests with visual cues from their surroundings for improved intent understanding. This process is defined as a multimodal classification task.…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

Humans and other intelligent animals evolved highly sophisticated perception systems that combine multiple sensory modalities. On the other hand, state-of-the-art artificial agents rely mostly on visual inputs or structured low-dimensional…

Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…

Humans perceive the world through multiple senses, enabling them to create a comprehensive representation of their surroundings and to generalize information across domains. For instance, when a textual description of a scene is given,…