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논문 1편
주제전체Manipulation 65VLA 43Navigation 24Learning 23Robotics 22Perception 20Humanoid 15Safety 9Simulation 9Locomotion 8World Action Models 4Aerial 2Aerial manipulation 2Dexterous manipulation 2Sim-to-Real Manipulation 2Social Navigation 2Vision-Language Navigation 2World models 2World-action model 23D Assembly 13DGS dataset 15G Simulation 1AMR Operations 1Active vision manipulation 1Adaptive MPC 1Adaptive action horizons 1Adaptive intervention 1Aerial Manipulation 1Aerial navigation 1Agricultural Robotics 1Articulation Estimation 1Autonomous Driving 1Autonomous Exploration 1Battery-aware RL 1Belief-space planning 1Bimanual Manipulation 1Byzantine localization 1Canal inspection 1Co-speech Humanoid 1Compositional Manipulation 1Construction navigation 1Contact-Rich Manipulation 1Contact-rich Manipulation 1Continuum sensing 1Curriculum RL 1Dexterous Manipulation 1Distributed Manipulation 1Distribution Shift 1Driving Simulation 1Efficient VIO 1Egocentric data 1Egocentric video 1Embodied Agents 1Embodied policy 1Empowerment MPC 1Endoscopic navigation 1Endovascular robotics 1Event-camera VO 1Exoskeletons 1Failure recovery 1Federated 3D Perception 1Fisheye detection 1Floorplan SLAM 1Geometry-aware manipulation 1Grasping 1Grounding 1Humanoid Control 1Humanoid RL 1Humanoid Tool Use 1Humanoid control 1Humanoid loco-manipulation 1Humanoid safety 1Imitation Learning 1JEPA World Models 1Lab automation 1Laboratory Manipulation 1Latent World Models 1Legged Manipulation 1LiDAR Security 1Lifelong RL 1MAPF 1MAV guidance 1Manipulation LfD 1Manipulation Safety 1Marine simulation 1Memory-centric VLA 1Miniature Locomotion 1Mining Perception 1Mobile manipulation 1Model-based RL 1Monocular SSC 1Motion Planning 1Multi-Agent RL 1Multi-Robot Exploration 1Multi-Robot Manipulation 1Multi-UAV Exploration 1Multi-UAV State Estimation 1Multi-agent RL 1Multi-agent motion planning 1Multi-camera odometry 1Multi-fidelity RL 1Multi-robot manipulation 1Multi-skill Manipulation 1Multi-view perception 1Multimodal simulation 1Navigation & Mapping 1Object Pose Estimation 1Object Search 1Panoramic 3D Detection 1Panoramic segmentation 1Pedestrian tracking 1PersonNav 1Planning 1Policy 1Policy Optimization 1Preference Learning 1Quadruped locomotion 1Real-time VLA 1Real-to-sim 1Representation alignment 1Robot-Use Agents 1Runtime Verification 1Safe Generative Planning 1Safe RL-MPC 1Safe VLA 1Safety monitoring 1Safety-critical control 1Sim-to-real Navigation 1Sim-to-real manipulation 1Simulation geometry 1Skill Discovery 1Social navigation 1Soft Pneumatic Actuators 1Soft manipulation 1Sonar SLAM 1Streaming 3D reconstruction 1Submovement decomposition 1Surgical 1Surgical robotics 1Tactile 1Tactile Exploration 1Tactile VLA 1Temporal manipulation 1Terrain traversability 1Text-to-3D Policy 1Tool Co-Design 1Trajectory Correction 1Traversability 1UAV Navigation 1UAV Swarms 1UAV traffic monitoring 1Underwater Robotics 1Underwater active mapping 1Underwater perception 1Unified world-action model 1VLA Conditioning 1VLA Defense 1VLA Robustness 1VLA evaluation 1VLA manipulation 1VLA robustness 1Video world models 1Visual Generalization 1Visual Grounding 1Visual Reward Models 1Visuomotor Fusion 1Visuotactile manipulation 1World Models 1World-Action Models 1
난이도전체입문중급전문가
arXiv
Sim-to-Real Manipulation중급

Skill2Real, 시뮬레이션 기술을 실물 로봇에 제로샷 이식하는 계층형 에이전트 프레임워크

Xincheng He, Siyu Ma, Chang Yu, Yunuo Chen, Yanjia Huang, Ying Nian Wu, Yin Yang, Chenfanfu Jiang

Skill2Real는 시뮬레이션에서 검증된 로컬 조작 기술(Cerebellum)과 이를 조합하는 장기 작업 프로그램(Brain)을 공유 코드 기반 정책 인터페이스로 학습해 실물 로봇에 제로샷 이식하는 에이전트 프레임워크다. 이 arXiv 프리프린트에서 LIBERO-90으로 학습한 고정 기술은 미지의 LIBERO-Pro Long에서 Astra 기준 성공률을 2.0%에서 56.3%로 올렸고, 실제 UR5e에서는 평균 작업 완료율 78.75%를 기록했다. 이는 기초 VLM의 도메인 일반화 위에 과제 지식을 시뮬레이션에서 배워 코드로 전이할 수 있음을 보여준다.

논문 전문 읽기 (PDF)

주제별 논문

매니퓰레이션 8VLA 4World Action Models 5Aerial manipulation 3Dexterous manipulation 3Sim-to-Real Manipulation 3Social Navigation 3

논문은 arXiv 로봇 피드에서 가져옵니다. 요약이 아직 작성되지 않은 논문은 초록의 첫 부분을 보여줍니다.