相关论文: GSWorld: Closed-Loop Photo-Realistic Simulation Su…

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…

Sim-to-Real refers to the process of transferring policies learned in simulation to the real world, which is crucial for achieving practical robotics applications. However, recent Sim2real methods either rely on a large amount of augmented…

Developing high-fidelity, interactive digital twins is crucial for enabling closed-loop motion planning and reliable real-world robot execution, which are essential to advancing sim-to-real transfer. However, existing approaches often…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…

Sensor simulation is pivotal for scalable validation of autonomous driving systems, yet existing Neural Radiance Fields (NeRF) based methods face applicability and efficiency challenges in industrial workflows. This paper introduces a…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with the lack of a unified model, complex dynamic interactions, and…

Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this paper, we propose SplatSim,…

Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for…

Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for…

3D Gaussian Splatting and its extension to 4D dynamic scenes enable photorealistic, real-time rendering from real-world captures, positioning Gaussian Splats (GS) as a promising format for next-generation immersive media. However, their…

3D Gaussian Splatting (3DGS) has emerged as a prominent 3D representation for high-fidelity and real-time rendering. Prior work has coupled physics simulation with Gaussians, but predominantly targets soft, deformable materials, leaving…

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…

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.…

Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

Traditional volumetric fusion algorithms preserve the spatial structure of 3D scenes, which is beneficial for many tasks in computer vision and robotics. However, they often lack realism in terms of visualization. Emerging 3D Gaussian…

Embodied intelligence requires precise reconstruction and rendering to simulate large-scale real-world data. Although 3D Gaussian Splatting (3DGS) has recently demonstrated high-quality results with real-time performance, it still faces…

As the demand for immersive 3D content grows, the need for intuitive and efficient interaction methods becomes paramount. Current techniques for physically manipulating 3D content within Virtual Reality (VR) often face significant…