3 accepted papers
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking data to train real-world robot systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-fr…
Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains challenging to incorporate RGB-color perception into the sim-to-real p…
Self-supervised and language-supervised image models contain rich knowledge of the world that is important for generalization. Many robotic tasks, however, require a detailed understanding of 3D geometry, which is often lacking in 2D image features. This work bridges this 2D-to-3D gap for robotic ma…