1 citations · 2 across the 5 of their papers we have counts for
9 papers
RoMo-GS: Efficient Online 3D Gaussian Splatting for Robot Mapping via Exposure-Integrated Motion Blur
Sangwoo Jung, Di Deng, Jiahui Fu +3
Online 3D Gaussian Splatting (3DGS) is emerging as a practical way to build a representation for robotics applications. However, deploying it on real-world platforms exposes multip…
ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim
Ivan Kapelyukh, Xiaohan Zhang, Stephen James +2
We present ZeroBot, a real2sim framework for learning a robot manipulation task from scratch in minutes under challenging conditions: zero human demonstrations, zero policy pre-tra…
Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim
Ivan Kapelyukh, Yafei Hu, Ran Gong +6
Spatial reasoning is fundamental to general robot intelligence, as it enables robots to complete long-horizon tasks involving multi-object interaction. We introduce Simify, a train…
Learning Equivariant Neural-Augmented Object Dynamics From Few Interactions
Sergio Orozco, Tushar Kusnur, Brandon May +2
Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D…
EMPM: Embodied MPM for Modeling and Simulation of Deformable Objects
Yunuo Chen, Yafei Hu, Lingfeng Sun +3
Modeling deformable objects - especially continuum materials - in a way that is physically plausible, generalizable, and data-efficient remains challenging across 3D vision, graphi…
AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning
Ran Gong, Xiaohan Zhang, Jinghuan Shang +11
Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has beco…
GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
Chiyun Noh, Sangwoo Jung, Hanjun Kim +3
Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. I…
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
Jad Abou-Chakra, Lingfeng Sun, Krishan Rana +5
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies…
Theia: Distilling Diverse Vision Foundation Models for Robot Learning
Jinghuan Shang, Karl Schmeckpeper, Brandon B. May +4
Vision-based robot policy learning, which maps visual inputs to actions, necessitates a holistic understanding of diverse visual tasks beyond single-task needs like classification…