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cs.RO2025★ 1 cited
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
Haizhou Ge, Yufei Jia, Zheng Li +6
Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and…
cs.RO2025
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…
cs.RO2025
An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer
Lu Shi, Yuxuan Xu, Shiyu Wang +6
The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. We propose a flexible Real-to-Sim-…