相关论文: Few-Shot Neural Differentiable Simulator: Real-to-…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to…

Interactive world models that simulate object dynamics are crucial for robotics, VR, and AR. However, it remains a significant challenge to learn physics-consistent dynamics models from limited real-world video data, especially for…

We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Generating synthetic images that closely mimic…

Realistic simulators are critical for training and verifying robotics systems. While most of the contemporary simulators are hand-crafted, a scaleable way to build simulators is to use machine learning to learn how the environment behaves…

Enabling robots to perform complex dynamic tasks such as picking up an object in one sweeping motion or pushing off a wall to quickly turn a corner is a challenging problem. The dynamic interactions implicit in these tasks are critical…

Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…

Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but also more difficult to accurately model and control. The…

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…

Molecular dynamics (MD) simulations enable the study of the motion of small and large (bio)molecules and the estimation of their conformational ensembles. The description of the environment (solvent) has thereby a large impact. Implicit…

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,…

Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects…

This paper presents a correspondence-free, function-based sim-to-real learning method for controlling deformable freeform surfaces. Unlike traditional sim-to-real transfer methods that strongly rely on marker points with full…

Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by existing differentiable simulation frameworks is contact…

This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…

Molecular dynamics (MD) simulation is essential for various scientific domains but computationally expensive. Learning-based force fields have made significant progress in accelerating ab-initio MD simulation but are not fast enough for…

Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…

Few-shot learning is a technique to learn a model with a very small amount of labeled training data by transferring knowledge from relevant tasks. In this paper, we propose a few-shot learning method for wearable sensor based human activity…

Collecting training data from the physical world is usually time-consuming and even dangerous for fragile robots, and thus, recent advances in robot learning advocate the use of simulators as the training platform. Unfortunately, the…

Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise patterns inherent to real sensors. In this work, inspired by…