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cs.RO2026
Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
Wei-Cheng Huang, Jiaheng Han, Xiaohan Ye +2
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered en…
cs.RO2025
Physics-informed Temporal Difference Metric Learning for Robot Motion Planning
Ruiqi Ni, Zherong Pan, Ahmed H Qureshi
The motion planning problem involves finding a collision-free path from a robot's starting to its target configuration. Recently, self-supervised learning methods have emerged to t…
cs.RO2024
One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering
Yifan Zhu, Tianyi Xiang, Aaron Dollar +1
Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. Howev…