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Bridging the Sim2real Gap in Robotics with Marius Memmel - #695

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内容由TWIML and Sam Charrington提供。所有播客内容(包括剧集、图形和播客描述)均由 TWIML and Sam Charrington 或其播客平台合作伙伴直接上传和提供。如果您认为有人在未经您许可的情况下使用您的受版权保护的作品,您可以按照此处概述的流程进行操作https://zh.player.fm/legal

Today, we're joined by Marius Memmel, a PhD student at the University of Washington, to discuss his research on sim-to-real transfer approaches for developing autonomous robotic agents in unstructured environments. Our conversation focuses on his recent ASID and URDFormer papers. We explore the complexities presented by real-world settings like a cluttered kitchen, data acquisition challenges for training robust models, the importance of simulation, and the challenge of bridging the sim2real gap in robotics. Marius introduces ASID, a framework designed to enable robots to autonomously generate and refine simulation models to improve sim-to-real transfer. We discuss the role of Fisher information as a metric for trajectory sensitivity to physical parameters and the importance of exploration and exploitation phases in robot learning. Additionally, we cover URDFormer, a transformer-based model that generates URDF documents for scene and object reconstruction to create realistic simulation environments.

The complete show notes for this episode can be found at https://twimlai.com/go/695.

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Manage episode 431498995 series 2355587
内容由TWIML and Sam Charrington提供。所有播客内容(包括剧集、图形和播客描述)均由 TWIML and Sam Charrington 或其播客平台合作伙伴直接上传和提供。如果您认为有人在未经您许可的情况下使用您的受版权保护的作品,您可以按照此处概述的流程进行操作https://zh.player.fm/legal

Today, we're joined by Marius Memmel, a PhD student at the University of Washington, to discuss his research on sim-to-real transfer approaches for developing autonomous robotic agents in unstructured environments. Our conversation focuses on his recent ASID and URDFormer papers. We explore the complexities presented by real-world settings like a cluttered kitchen, data acquisition challenges for training robust models, the importance of simulation, and the challenge of bridging the sim2real gap in robotics. Marius introduces ASID, a framework designed to enable robots to autonomously generate and refine simulation models to improve sim-to-real transfer. We discuss the role of Fisher information as a metric for trajectory sensitivity to physical parameters and the importance of exploration and exploitation phases in robot learning. Additionally, we cover URDFormer, a transformer-based model that generates URDF documents for scene and object reconstruction to create realistic simulation environments.

The complete show notes for this episode can be found at https://twimlai.com/go/695.

  continue reading

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