5 papers
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15
Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFoundry, a modular and automated system for zero-shot real-to-sim scene c…
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6
The scarcity of large-scale, high-quality demonstration data remains a bottleneck in scaling imitation learning for robotic manipulation. We present COBALT, a teleoperation platfor…
SoftMimicGen: A Data Generation System for Scalable Robot Learning in Deformable Object Manipulation
Masoud Moghani, Mahdi Azizian, Animesh Garg +3
Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to th…
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Jesse Haworth, Juo-Tung Chen, Nigel Nelson +4
Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numer…
SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound
Yunke Ao, Masoud Moghani, Mayank Mittal +6
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. Robotic ultrasound can further enhance its…