Papers
1–6 of 6ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constraints or constrained...
Few-Shot Neural Differentiable Simulator: Real-to-Sim Rigid-Contact Modeling
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 l...
RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this v...
Embodied Human Simulation for Quantitative Design and Analysis of Interactive Robotics
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamic...
CRoSS: A Continual Robotic Simulation Suite for Scalable Reinforcement Learning with High Task Diversity and Realistic Physics Simulation
Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL bas...
GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments
Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scal...