GS-Playground delivers a high-throughput photorealistic simulator for vision-informed robot learning via parallel physics integrated with batch 3D Gaussian Splatting at 10^4 FPS and an automated Real2Sim workflow for consistent environments.
//arxiv.org/abs/2105.08328
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MoRI dynamically mixes RL and IL experts with variance-based switching and IL regularization to reach 97.5% success in four real-world robotic tasks while cutting human intervention by 85.8%.
Integrates iterative learning control with a torque library to enable high-precision adaptive locomotion on bipedal and quadrupedal robots, reducing tracking errors by up to 85% and achieving over 30x faster control rates.
RANDPOL achieves effective quadruped locomotion by training only the final linear readout of a randomly initialized and fixed neural network policy, matching PPO results with reduced parameters and enabling zero-shot sim-to-real transfer on Unitree Go2.
SWIM is a single-instance imitation method for learning and generalizing physically simulated swimming motions to new environments, bodies, and styles.
MuGen learns a generative latent representation of multi-skill humanoid locomotion from heterogeneous human data using VQ-VAEs and RL, then distills a deployable policy that tracks unseen motions and reuses the latent space.
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RANDPOL: Parameter-Efficient End-to-End Quadruped Locomotion via Randomized Policy Learning
RANDPOL achieves effective quadruped locomotion by training only the final linear readout of a randomly initialized and fixed neural network policy, matching PPO results with reduced parameters and enabling zero-shot sim-to-real transfer on Unitree Go2.