相关论文: A Preview of HoloOcean 2.0

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…

Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…

Building upon our previous contributions, this paper introduces Arena 3.0, an extension of Arena-Bench, Arena 1.0, and Arena 2.0. Arena 3.0 is a comprehensive software stack containing multiple modules and simulation environments focusing…

We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper-realistic geometry and appearance of complex real-world…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

As robots increasingly coexist with humans, they must navigate complex, dynamic environments rich in visual information and implicit social dynamics, like when to yield or move through crowds. Addressing these challenges requires…

Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…

Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…

The oceans cover the vast majority of the Earth. Therefore, their simulation has many scientific, industrial and military interests, including computer graphics domain. By fully exploiting the multi-threading power of GPU and CPU, current…

We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex environments, including doorways, hallways, intersections, and…

The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…

This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…

This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…

We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…

We present a HoloLens 2 server application for streaming device data via TCP in real time. The server can stream data from the four grayscale cameras, depth sensor, IMU, front RGB camera, microphone, head tracking, eye tracking, and hand…

We introduce UnrealZoo, a collection of over 100 photo-realistic 3D virtual worlds built on Unreal Engine, designed to reflect the complexity and variability of open-world environments. We also provide a rich variety of playable entities,…

Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator…

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…

Driving simulation plays a crucial role in developing reliable driving agents by providing controlled, evaluative environments. To enable meaningful assessments, a high-quality driving simulator must satisfy several key requirements:…

Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…