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cs.RO2025
Zero-Shot Sim-to-Real Reinforcement Learning for Fruit Harvesting
Emlyn Williams, Athanasios Polydoros
This paper presents a comprehensive sim-to-real pipeline for autonomous strawberry picking from dense clusters using a Franka Panda robot. Our approach leverages a custom Mujoco si…
cs.RO2024
Robotic Learning in your Backyard: A Neural Simulator from Open Source Components
Liyou Zhou, Oleg Sinavski, Athanasios Polydoros
The emergence of 3D Gaussian Splatting for fast and high-quality novel view synthesize has opened up the possibility to construct photo-realistic simulations from video for robotic…
cs.RO2024
Pretrained Visual Representations in Reinforcement Learning
Emlyn Williams, Athanasios Polydoros
Visual reinforcement learning (RL) has made significant progress in recent years, but the choice of visual feature extractor remains a crucial design decision. This paper compares…