28 citations · 41 across the 4 of their papers we have counts for
6 papers · 1 filter
Follow the Gradient: Crossing the Reality Gap using Differentiable Physics (RealityGrad)
Jack Collins, Ross Brown, Jürgen Leitner +1
We propose a novel iterative approach for crossing the reality gap that utilises live robot rollouts and differentiable physics. Our method, RealityGrad, demonstrates for the first…
Traversing the Reality Gap via Simulator Tuning
Jack Collins, Ross Brown, Jurgen Leitner +1
The large demand for simulated data has made the reality gap a problem on the forefront of robotics. We propose a method to traverse the gap by tuning available simulation paramete…
Benchmarking Simulated Robotic Manipulation through a Real World Dataset
Jack Collins, Jessie McVicar, David Wedlock +3
We present a benchmark to facilitate simulated manipulation; an attempt to overcome the obstacles of physical benchmarks through the distribution of a real world, ground truth data…
Comparing Direct and Indirect Representations for Environment-Specific Robot Component Design
Jack Collins, Ben Cottier, David Howard
We compare two representations used to define the morphology of legs for a hexapod robot, which are subsequently 3D printed. A leg morphology occupies a set of voxels in a voxel gr…
Quantifying the Reality Gap in Robotic Manipulation Tasks
Jack Collins, David Howard, Jürgen Leitner
We quantify the accuracy of various simulators compared to a real world robotic reaching and interaction task. Simulators are used in robotics to design solutions for real world ha…
Towards the Targeted Environment-Specific Evolution of Robot Components
Jack Collins, Wade Geles, David Howard +1
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Ev…