A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
MuJoCo: A physics engine for model-based control.IEEE/RSJ International Conference on Intelligent Robots and Sys- tems (IROS), pages 5026–5033, October 2012
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A discrete diffusion model tokenizes multimodal robotic data and uses a progress token to predict future states and task completion for scalable policy evaluation.
PBD-R adds a momentum-conservation constraint to position-based dynamics to deliver physically accurate rigid-body dynamics while remaining computationally lighter than MuJoCo.
citing papers explorer
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Learning to Play Piano in the Real World
A Sim2Real2Sim learning pipeline enables a real-world dexterous robot to play piano pieces including Happy Birthday and Ode to Joy with an average F1-score of 0.881.
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dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
A discrete diffusion model tokenizes multimodal robotic data and uses a progress token to predict future states and task completion for scalable policy evaluation.
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Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
PBD-R adds a momentum-conservation constraint to position-based dynamics to deliver physically accurate rigid-body dynamics while remaining computationally lighter than MuJoCo.