7 accepted papers
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng…
Accurate physics simulation is essential for robotic learning and control, yet analytical simulators often fail to capture complex contact dynamics, while learning-based simulators typically require large amounts of costly real-world data. To bridge this gap, we propose a few-shot real-to-sim approa…
Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to open-vocabulary instructions in everyday scenarios remains challeng
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including intersection-free collision simulation and stable LCP solutions for multipl…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable simulation in diverse robotic manipulation scenarios, a key cha…
We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4000 models covering 11 categories annotated with clothes features, boundary lines, and keypoints. ClothesNet can be used to facilitate a variety of computer vision an…
Differentiable Simulations have recently proven useful for various robotic manipulation tasks, including cloth manipulation. In robotic cloth simulation, it is crucial to maintain intersection-free properties. We present DiffClothAI, a differentiable cloth simulation with intersection-free friction…