5 citations · 10 across the 9 of their papers we have counts for
3 papers · 2 filters
Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation
Tao Sun, Beining Han, Patrick Yin +5
Rebar insertion is among the most repetitive and physically demanding tasks on construction sites, and a contact-rich problem at 1.4 mm clearance. The parts, however, vary at two l…
Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learning
Patrick Yin, Tyler Westenbroek, Zhengyu Zhang +9
Reinforcement learning in massively parallel physics simulations has driven major progress in sim-to-real robot learning. However, current approaches remain brittle and task-specif…
Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
Jacob Levy, Tyler Westenbroek, Kevin Huang +6
Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, w…