相关论文: DexSIM: Real-time Dexterous Simulation with Unifie…

In this work, we propose algorithms and methods that enable learning dexterous object manipulation using simulated one- or two-armed robots equipped with multi-fingered hand end-effectors. Using a parallel GPU-accelerated physics simulator…

This work aims to generate realistic anatomical deformations from static patient scans. Specifically, we present a method to generate these deformations/augmentations via deep learning driven respiratory motion simulation that provides the…

Portrait animation from a single source image and a driving video is a long-standing problem. Recent approaches tend to adopt diffusion-based image/video generation models for realistic and expressive animation. However, none of these…

Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…

Hand motion plays a central role in human interaction, yet modeling realistic 4D hand motion (i.e., 3D hand pose sequences over time) remains challenging. Research in this area is typically divided into two tasks: (1) Estimation approaches…

Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoperation (for imitation learning) and sim-to-real reinforcement…

Learning a generalist control policy for dexterous manipulation typically relies on large-scale datasets. Given the high cost of real-world data collection, a practical alternative is to generate synthetic data through simulation. However,…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…

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…

To build general robotic agents that can operate in many environments, it is often imperative for the robot to collect experience in the real world. However, this is often not feasible due to safety, time, and hardware restrictions. We thus…

Evaluating embodied systems on real dexterous hardware requires more than isolated primitive skills: an agent must perceive a changing tabletop scene, choose a context-appropriate action, execute it with a dexterous hand, and leave the…

We present a low-cost legged mobile manipulation system that solves long-horizon real-world tasks, trained by reinforcement learning purely in simulation. This system is made possible by 1) a hierarchical design of a high-level policy for…

Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and…

Realistic simulation is critical for applications ranging from robotics to animation. Learned simulators have emerged as a possibility to capture real world physics directly from video data, but very often require privileged information…

Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…

Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…