Recent interesting robotics papers
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin for Real-World Robot Policy Evaluation

- Incorporate previous work embodied gaussians as a novel representation of the real world
- using gaussian splatting and warp to reconstruct the scene in simulation

#arxiv #simulation #reconstruction

X Overview, Project Website, Embodied Gaussians
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Jad Abou-Chakra (@jadachakra)
1/ Real2Sim and Sim2Real are well-known paradigms in robotics🤖. Is there another paradigm where sim and the real world are more tightly interlinked? We introduce Real-IS-Sim: a framework featuring an always-in-the-loop, correctable simulator for behavior…
arxiv simulation reconstruction
PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos

- utilize scene reconstruction to create digital twin
- using warp as the simulation pipeline

#arxiv #defromable #reconstruction #simulation

X Overview, Project Link, Arxiv Link
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Hanxiao Jiang (@jiang_hanxiao)
🚀 How can we create interactive Physical Digital Twins from videos?

Thrilled to share our latest work: PhysTwin! 🌟 Using inverse physics optimization, we generate photo-realistic, physically accurate, and real-time interactive virtual replicas. 🔥

🔗http…
arxiv defromable reconstruction simulation
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels

- detailed analysis of co-training on DP sim-and-real

#arxiv #manipulation

X Overview, Arxiv Link
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Adam Wei (@adamwei_)
Adam Wei (@adamwei_)
Learning from both sim+real data could scale robot imitation learning. But what are the scaling laws & principles of sim+real cotraining?

We study this in the first focused analysis of sim+real cotraining spanning 250+ policies & 40k+ evals https://arxi…
arxiv manipulation
DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset

- benchmark with precise calibration
- it is mind-blowing to see how modern vision model could help to calibrate automatically

#arxiv #dataset

X Overview, Project Website
🧵 Thread • FixupX
Zubair Irshad (@mzubairirshad)
Introducing ✨Posed DROID✨, results of our efforts at automatic post-hoc calibration of a large-scale robotics manipulation dataset.

We provide:
🤖 ~36k calibrated episodes with good quality extrinsic calibration
🦾 ~24k calibrated multi-view episodes with…
arxiv dataset
Ï€0.5: a VLA with Open-World Generalization

- following work of pi-0
- utilize co-train and use VLM to identify low-level tasks from high-level command

#arxiv #manipulation

X Overview, Project Website, pi-0
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Chelsea Finn (@chelseabfinn)
Introducing π-0.5!

The model works out of the box in completely new environments.

Here the robot cleans new kitchens & bedrooms. 🤖

Detailed paper + videos in more than 10 unseen rooms:
http://physicalintelligence.company/blog/pi05

A short thread 🧵
arxiv manipulation
 
 
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