Guixing Chen

DiffuDepGrasp: Diffusion-Based Depth Noise Modeling Empowers Sim-To-Real Robotic Grasping

Accurate spatial-geometric perception remains fundamental to robotic grasping, yet physical artifacts in real depth maps like voids and noise establish a significant sim-to-real gap that critically impedes policy transfer. Training-time strategies like procedural noise injection or learned mappings …