Real2sim2real: Self-supervised learning of physical single-step dynamic actions for planar robot casting
This paper introduces the task of Planar Robot Casting (PRC): where one planar motion of a
robot arm holding one end of a cable causes the other end to slide across the plane toward …
robot arm holding one end of a cable causes the other end to slide across the plane toward …
Laserhuman: language-guided scene-aware human motion generation in free environment
Language-guided scene-aware human motion generation has great significance for
entertainment and robotics. In response to the limitations of existing datasets, we introduce …
entertainment and robotics. In response to the limitations of existing datasets, we introduce …
Open6DOR: Benchmarking open-instruction 6-dof object rearrangement and a VLM-based approach
The integration of large-scale Vision-Language Models (VLMs) with embodied AI can
greatly enhance the generalizability and the capacity to follow open instructions for robots …
greatly enhance the generalizability and the capacity to follow open instructions for robots …
Dynamic datasets and market environments for financial reinforcement learning
The financial market is a particularly challenging playground for deep reinforcement
learning due to its unique feature of dynamic datasets. Building high-quality market …
learning due to its unique feature of dynamic datasets. Building high-quality market …
Transgrasp: Grasp pose estimation of a category of objects by transferring grasps from only one labeled instance
Grasp pose estimation is an important issue for robots to interact with the real world.
However, most of existing methods require exact 3D object models available beforehand or …
However, most of existing methods require exact 3D object models available beforehand or …
Handoversim: A simulation framework and benchmark for human-to-robot object handovers
We introduce a new simulation benchmark “Han-doverSim” for human-to-robot object
handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of …
handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of …
Fast population-based reinforcement learning on a single machine
Training populations of agents has demonstrated great promise in Reinforcement Learning
for stabilizing training, improving exploration and asymptotic performance, and generating a …
for stabilizing training, improving exploration and asymptotic performance, and generating a …
Phyrecon: Physically plausible neural scene reconstruction
We address the issue of physical implausibility in multi-view neural reconstruction. While
implicit representations have gained popularity in multi-view 3D reconstruction, previous …
implicit representations have gained popularity in multi-view 3D reconstruction, previous …
Grid: Gpu-accelerated rigid body dynamics with analytical gradients
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with
analytical gradients. GRiD was designed to accelerate the nonlinear trajectory opti-mization …
analytical gradients. GRiD was designed to accelerate the nonlinear trajectory opti-mization …
Automatic environment shaping is the next frontier in rl
Many roboticists dream of presenting a robot with a task in the evening and returning the
next morning to find the robot capable of solving the task. What is preventing us from …
next morning to find the robot capable of solving the task. What is preventing us from …