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

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Innhold levert av TWIML and Sam Charrington. Alt podcastinnhold, inkludert episoder, grafikk og podcastbeskrivelser, lastes opp og leveres direkte av TWIML and Sam Charrington eller deres podcastplattformpartner. Hvis du tror at noen bruker det opphavsrettsbeskyttede verket ditt uten din tillatelse, kan du følge prosessen skissert her https://no.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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730 episoder

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Manage episode 431498995 series 2355587
Innhold levert av TWIML and Sam Charrington. Alt podcastinnhold, inkludert episoder, grafikk og podcastbeskrivelser, lastes opp og leveres direkte av TWIML and Sam Charrington eller deres podcastplattformpartner. Hvis du tror at noen bruker det opphavsrettsbeskyttede verket ditt uten din tillatelse, kan du følge prosessen skissert her https://no.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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