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cs.RO2024
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Weikun Peng, Jun Lv, Yuwei Zeng +5
The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from…
cs.RO2024
Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition
Shengcheng Luo, Quanquan Peng, Jun Lv +4
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped wi…
cs.RO2024
DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model
Yang Jin, Jun Lv, Shuqiang Jiang +1
Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to gen…