A text-to-simulation pipeline using LLMs and VLMs generates synthetic pHRI data to train vision-based imitation learning policies that achieve over 80% success in zero-shot sim-to-real transfer on real assistive tasks.
Assistive gym: A physics simulation framework for assistive robotics,
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Generative Simulation for Policy Learning in Physical Human-Robot Interaction
A text-to-simulation pipeline using LLMs and VLMs generates synthetic pHRI data to train vision-based imitation learning policies that achieve over 80% success in zero-shot sim-to-real transfer on real assistive tasks.