5 papers
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
Junzhe Wu, Yufei Jia, Yiyi Yan +6
While 3D Gaussian Splatting (3DGS) has emerged as a strong representation for photorealistic rendering, its vast ecosystem of assets remains difficult to use for high-performance L…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
MuJoCoUni:Persistent Batched Runtime Primitives for MuJoCo
Yufei Jia, Junzhe Wu
We present MuJoCoUni, a downstream MuJoCo distribution for online robot learning and batched physics evaluation. Alongside the open-loop batched trajectory generation already provi…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Yufei Jia, Heng Zhang, Ziheng Zhang +39
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based loco…
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Yufei Jia, Guangyu Wang, Yuhang Dong +17
We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper…