4 papers
QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
Yuxiang Chen, Yuanhao Wang, Ziheng Zhang +6
Simulation is central to robot learning, yet the sim-to-real gap remains a major bottleneck. Existing approaches often tackle visual or dynamic gaps separately, overlooking how the…
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…
PADriver: Towards Personalized Autonomous Driving
Genghua Kou, Fan Jia, Weixin Mao +7
In this paper, we propose PADriver, a novel closed-loop framework for personalized autonomous driving (PAD). Built upon Multi-modal Large Language Model (MLLM), PADriver takes stre…
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator
Xinhai Li, Jialin Li, Ziheng Zhang +6
Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs…