GS-Playground delivers a high-throughput photorealistic simulator for vision-informed robot learning via parallel physics integrated with batch 3D Gaussian Splatting at 10^4 FPS and an automated Real2Sim workflow for consistent environments.
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Robot parkour learning
13 Pith papers cite this work. Polarity classification is still indexing.
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DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
A modular system uses motion matching to compose long-horizon human skill chains, trains RL experts, and distills them into a depth-based policy that lets a Unitree G1 humanoid autonomously climb, vault, and roll over obstacles up to 1.25 m tall.
DreamPolicy integrates an autoregressive diffusion world model with policy learning to produce a single scalable policy that generalizes to unseen composite terrains for humanoid locomotion.
A lightweight RL framework trains terrain-agnostic 3D foothold-tracking policies for humanoids that transfer directly to real-world use as standalone low-level controllers.
A hybrid motion-tracking and imitation-reinforcement pipeline produces a depth-based visuomotor policy that lets humanoids climb varied ladders zero-shot on hardware and perform teleoperated manipulation while climbing.
An end-to-end policy learns robust humanoid locomotion directly from noisy depth images via high-fidelity sensor simulation, vision-aware distillation from privileged maps, and terrain-specific multi-critic reward shaping.
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.
A four-stage RL system with teacher-student distillation and online constrained adaptation enables humanoid robots to achieve robust ball-kicking accuracy under noisy perception in simulation and on physical hardware.
Sparsely gated MoE policies double the success rate of a real Unitree Go2 quadruped on large-obstacle parkour versus matched-active-parameter MLP baselines while cutting inference time compared with a scaled-up MLP.
citing papers explorer
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GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
GS-Playground delivers a high-throughput photorealistic simulator for vision-informed robot learning via parallel physics integrated with batch 3D Gaussian Splatting at 10^4 FPS and an automated Real2Sim workflow for consistent environments.
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Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
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Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
A modular system uses motion matching to compose long-horizon human skill chains, trains RL experts, and distills them into a depth-based policy that lets a Unitree G1 humanoid autonomously climb, vault, and roll over obstacles up to 1.25 m tall.
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Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
A lightweight RL framework trains terrain-agnostic 3D foothold-tracking policies for humanoids that transfer directly to real-world use as standalone low-level controllers.
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LadderMan: Learning Humanoid Perceptive Ladder Climbing
A hybrid motion-tracking and imitation-reinforcement pipeline produces a depth-based visuomotor policy that lets humanoids climb varied ladders zero-shot on hardware and perform teleoperated manipulation while climbing.
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Now You See That: Learning End-to-End Humanoid Locomotion from Raw Pixels
An end-to-end policy learns robust humanoid locomotion directly from noisy depth images via high-fidelity sensor simulation, vision-aware distillation from privileged maps, and terrain-specific multi-critic reward shaping.
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UniCon: A Unified System for Efficient Robot Learning Transfers
UniCon standardizes states and control logic into modular execution graphs for efficient transfer of learning controllers across heterogeneous robots, with lower latency than ROS.
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Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input
Sparsely gated MoE policies double the success rate of a real Unitree Go2 quadruped on large-obstacle parkour versus matched-active-parameter MLP baselines while cutting inference time compared with a scaled-up MLP.
- RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
- PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation