相关论文: ExoGS: A 4D Real-to-Sim-to-Real Framework for Scal…

Underwater ROVs (Remotely Operated Vehicles) are indispensable for subsea exploration and task execution, yet typical teleoperation engines based on egocentric (first-person) video feeds restrict human operators' field-of-view and limit…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Vision-based policies for robot manipulation have achieved significant recent success, but are still brittle to distribution shifts such as camera viewpoint variations. Robot demonstration data is scarce and often lacks appropriate…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

In real-world scenarios, environment changes caused by human or agent activities make it extremely challenging for robots to perform various long-term tasks. Recent works typically struggle to effectively understand and adapt to dynamic…

Dynamic 4D Gaussian Splatting (4DGS) effectively extends the high-speed rendering capabilities of 3D Gaussian Splatting (3DGS) to represent volumetric videos. However, the large number of Gaussians, substantial temporal redundancies, and…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…

Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as the standard source for expert behaviors, acquiring such…

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…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

Bridging the sim-to-real gap is important for applying low-cost simulation data to real-world robotic systems. However, previous methods are severely limited by treating each transfer as an isolated endeavor, demanding repeated, costly…

Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…

Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…

The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…

We introduce perioperation, a paradigm for robotic data collection that sensorizes and records human manipulation while maximizing the transferability of the data to real robots. We implement this paradigm in DEXOP, a passive hand…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…