AI Research 技术调研
Search
搜索
暗色模式
亮色模式
探索
标签: sim-to-real
此标签下有69条笔记。
2026年7月16日
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World
sim-to-real
domain-randomization
reality-gap
object-localization
robotic-grasping
mujoco
sim-infra
zero-shot-transfer
2026年7月16日
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
sim-to-real
quadruped-locomotion
minitaur
ppo
dynamics-randomization
actuator-modeling
reality-gap
deep-rl
pybullet
legged-robots
2026年7月16日
Learning Quadrupedal Locomotion over Challenging Terrain
legged-locomotion
quadruped
anymal
teacher-student
privileged-learning
tcn
sim-to-real
terrain-curriculum
proprioception
reinforcement-learning
2026年7月16日
SAPIEN: A SimulAted Part-based Interactive ENvironment
simulator
articulated-objects
partnet-mobility
physx
ros
manipulation
sim-to-real
embodied-ai
part-level
benchmark
类别
模型
可动部件
2026年7月16日
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
physics-simulation
gpu-simulation
physx
reinforcement-learning
vectorized-envs
sim-to-real
dexterous-manipulation
legged-locomotion
tensor-api
ppo
2026年7月16日
NVIDIA Isaac Sim
isaac-sim
omniverse
openusd
physx
rtx-rendering
synthetic-data-generation
ros2
sim-to-real
robotics-simulation
digital-twin
2026年7月16日
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
legged-locomotion
quadruped
isaac-gym
ppo
sim-to-real
curriculum
gpu-rl
anymal
on-policy
massively-parallel
2026年7月16日
RMA: Rapid Motor Adaptation for Legged Robots
legged-locomotion
quadruped
unitree-a1
rma
online-adaptation
privileged-learning
teacher-student
system-identification
sim-to-real
proprioception
ppo
reinforcement-learning
2026年7月16日
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
whole-body-control
legged-manipulator
quadruped-manipulation
reinforcement-learning
sim-to-real
advantage-mixing
regularized-online-adaptation
ppo
isaac-gym
unitree-go1
2026年7月16日
Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild
legged-locomotion
quadruped
anymal
teacher-student
privileged-learning
belief-state
attention-gate
gru
exteroception
sim-to-real
2026年7月16日
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
quadruped-locomotion
multiplicity-of-behavior
gait-conditioned-rl
sim-to-real
ppo
isaac-gym
unitree-go1
domain-randomization
raibert-heuristic
out-of-distribution
2026年7月16日
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
legged-locomotion
quadruped
anymal
parkour
hierarchical-rl
sim-to-real
terrain-reconstruction
navigation
perception
isaac-gym
2026年7月16日
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
quadruped
legged-locomotion
agility-benchmark
sim-to-real
reinforcement-learning
transformer-distillation
teacher-student
domain-randomization
2026年7月16日
DreamWaQ: Learning Robust Quadrupedal Locomotion with Implicit Terrain Imagination via Deep Reinforcement Learning
legged-locomotion
quadruped
reinforcement-learning
proprioception
asymmetric-actor-critic
terrain-imagination
variational-autoencoder
sim-to-real
unitree-a1
domain-randomization
2026年7月16日
DTC: Deep Tracking Control
legged-locomotion
quadruped
anymal
trajectory-optimization
hybrid-control
tamols
ppo
asymmetric-actor-critic
sim-to-real
sparse-terrain
2026年7月16日
Extreme Parkour with Legged Robots
legged-locomotion
quadruped
parkour
sim-to-real
egocentric-depth
teacher-student-distillation
reinforcement-learning
unitree-a1
inner-product-reward
roa
2026年7月16日
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
orbit
isaac-lab
isaac-sim
physx-5
gpu-simulation
sim-to-real
robot-learning
deformable-body
benchmark
rl-infra
2026年7月16日
Neural Volumetric Memory for Visual Locomotion Control
legged-locomotion
quadruped
visual-locomotion
3d-feature-volume
se3-equivariance
geometric-memory
teacher-student-distillation
self-supervised-learning
sim-to-real
unitree-a1
2026年7月16日
Real-World Humanoid Locomotion with Reinforcement Learning
humanoid
locomotion
reinforcement-learning
sim-to-real
causal-transformer
in-context-learning
domain-randomization
isaac-gym
digit
bair
2026年7月16日
Robot Parkour Learning
legged-locomotion
quadruped
parkour
sim-to-real
reinforcement-learning
privileged-distillation
depth-vision
unitree
2026年7月16日
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
local-planning
imperative-learning
semantic-costmap
sim-to-real
anymal
quadruped
navigation
resnet18
bi-level-optimization
2026年7月16日
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
legged-locomotion
quadruped
reach-avoid
hamilton-jacobi
safe-rl
collision-avoidance
dual-policy
ppo
sim-to-real
unitree-go1
2026年7月16日
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI
embodied-ai
survey
vla
world-model
sim-to-real
embodied-perception
vln
embodied-qa
simulators
mllm-agent
2026年7月16日
All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents
cross-embodiment
robot-manipulation
teleoperation-dataset
data-standard
multi-modal
tactile-sensing
audio-sensing
object-navigation
sim-to-real
china
2026年7月16日
BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
embodied-ai
benchmark
simulation
mobile-manipulation
omnigibson
long-horizon
household
sim-to-real
bddl
2026年7月16日
DemoStart: Demonstration-led Auto-curriculum Applied to Sim-to-real with Multi-fingered Robots
dexterous-manipulation
sim-to-real
auto-curriculum
reinforcement-learning
zero-shot-transfer
multi-fingered-hand
behavior-cloning
domain-randomization
mpo
sparse-reward
2026年7月16日
DPPO: Diffusion Policy Policy Optimization
manipulation
diffusion-policy
reinforcement-learning
ppo
policy-gradient
rl-finetuning
sim-to-real
action-chunking
ddim
embodied-ai
2026年7月16日
Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation (H2O)
humanoid
teleoperation
whole-body-control
motion-imitation
sim-to-real
reinforcement-learning
retargeting
unitree-h1
amass
rgb-camera
2026年7月16日
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
legged-locomotion
quadruped-manipulation
unitree-go2
vision-language-model
zero-shot-generalization
sim-to-real
florence-2
sam2
whole-body-control
open-vocabulary
2026年7月16日
Humanoid Parkour Learning
humanoid
parkour
legged-locomotion
sim-to-real
reinforcement-learning
privileged-distillation
depth-vision
unitree-h1
whole-body-control
2026年7月16日
Flow as the Cross-Domain Manipulation Interface
object-flow
cross-embodiment
cross-domain
sim-to-real
human-video-learning
flow-conditioned-policy
animatediff
diffusion-policy
tapir
play-data
2026年7月16日
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
humanoid
whole-body-control
teleoperation
sim-to-real
RL
teacher-student
dexterous-manipulation
imitation-learning
unitree-h1
diffusion-policy
2026年7月16日
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
benchmark
robotic-manipulation
generalization
distribution-shift
rlbench
coppeliasim
pyrep
sim-to-real
behavior-cloning
rss-2024
2026年7月16日
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
humanoid
multi-contact
whole-body-control
reinforcement-learning
curiosity-exploration
sim-to-real
unitree-h1
parkour
loco-manipulation
ppo
Exploration
2026年7月16日
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
humanoid
sim-to-real
residual-action
whole-body-control
motion-tracking
unitree-g1
reinforcement-learning
delta-action
dynamics-gap
2026年7月16日
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
survey
behavior-foundation-model
humanoid
whole-body-control
forward-backward-representation
successor-measure
unsupervised-rl
zero-shot-adaptation
motion-tracking
sim-to-real
2026年7月16日
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
humanoid
motion-tracking
guided-diffusion
sim-to-real
whole-body-control
deepmimic
unitree-g1
classifier-guidance
lafan1
2026年7月16日
BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
humanoid
whole-body-control
unsupervised-rl
forward-backward-representation
zero-shot-rl
successor-features
behavioral-foundation-model
unitree-g1
sim-to-real
latent-space
2026年7月16日
Dexterous Manipulation through Imitation Learning: A Survey
survey
dexterous-manipulation
imitation-learning
behavioral-cloning
teleoperation
end-effector
tactile-sensing
sim-to-real
video-demonstration
2026年7月16日
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
humanoid
loco-manipulation
force-adaptation
dual-agent-rl
whole-body-control
unitree-g1
booster-t1
torque-limit-curriculum
sim-to-real
ppo
2026年7月16日
AgiBot Genie Sim: Open-Source Simulation Platform for Embodied Intelligence
simulation
sim-to-real
isaac-sim
llm-scene-generation
3d-gaussian-splatting
robot-benchmark
synthetic-data
vla-evaluation
agibot-world
2026年7月16日
GMT: General Motion Tracking for Humanoid Whole-Body Control
humanoid
whole-body-control
motion-tracking
motion-imitation
mixture-of-experts
adaptive-sampling
teacher-student
sim-to-real
unitree-g1
amass
2026年7月16日
GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
vla
grasping
synthetic-data
sim-to-real
flow-matching
chain-of-thought
open-vocabulary
action-expert
corl2025
2026年7月16日
HuB: Learning Extreme Humanoid Balance
humanoid
balance-control
reinforcement-learning
sim-to-real
motion-retargeting
unitree-g1
teacher-student-distillation
whole-body-control
quasi-static-balance
2026年7月16日
HugWBC: A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
humanoid
whole-body-control
loco-manipulation
command-space
gait-control
teleoperation-intervention
sim-to-real
reinforcement-learning
unitree-h1
isaacgym
2026年7月16日
Learning Getting-Up Policies for Real-World Humanoid Robots
humanoid
fall-recovery
getting-up
whole-body-control
curriculum-learning
sim-to-real
reinforcement-learning
unitree-g1
isaacgym
ppo
2026年7月16日
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
humanoid
whole-body-control
motion-tracking
unitree-g1
adaptive-curriculum
bi-level-optimization
sim-to-real
reinforcement-learning
motion-retargeting
2026年7月16日
MuJoCo Playground: An Open-Source Framework for GPU-Accelerated Robot Learning and Sim-to-Real Transfer
sim-infra
mjx
mujoco
gpu-simulation
sim-to-real
reinforcement-learning
madrona
batch-rendering
locomotion
manipulation
2026年7月16日
OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
humanoid
motion-retargeting
interaction-mesh
loco-manipulation
data-augmentation
sim-to-real
unitree-g1
trajectory-optimization
reinforcement-learning
2026年7月16日
PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System
humanoid
scene-interaction
adversarial-motion-prior
reference-state-initialization
sim-to-real
unitree-g1
lidar-camera-fusion
loco-manipulation
asymmetric-actor-critic
2026年7月16日
ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
humanoid
loco-manipulation
residual-learning
motion-tracking
whole-body-control
sim-to-real
unitree-g1
reinforcement-learning
contact-reward
ppo
2026年7月16日
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
benchmark
dual-arm-manipulation
bimanual-manipulation
domain-randomization
sim-to-real
mllm-code-generation
cross-embodiment
vla-training-data
2026年7月16日
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
simulation
metasim
cross-simulator
cross-embodiment
robot-learning-benchmark
imitation-learning
reinforcement-learning
world-model
sim-to-real
teleoperation
2026年7月16日
Skild Brain: An Omni-Bodied Robotic Foundation Model
vla
omni-bodied
cross-embodiment
hierarchical-policy
locomotion
in-context-learning
sim-to-real
learning-from-video
humanoid
quadruped
2026年7月16日
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
humanoid
whole-body-control
motion-tracking
motion-imitation
scaling
cross-embodiment
universal-token
fsq
teleoperation
vla
unitree-g1
sim-to-real
2026年7月16日
TrackVLA: Embodied Visual Tracking in the Wild
vla
embodied-visual-tracking
diffusion-action-head
vicuna-7b
eva-clip
evt-bench
habitat-simulator
human-following
quadruped-robot
sim-to-real
2026年7月16日
TrackVLA++: Unleashing Reasoning and Memory Capabilities in VLA Models for Embodied Visual Tracking
embodied-visual-tracking
vla
chain-of-thought
polar-coordinate
target-memory
navfom
multi-camera
sim-to-real
2026年7月16日
TWIST: Teleoperated Whole-Body Imitation System
humanoid
whole-body-control
teleoperation
motion-imitation
motion-tracking
teacher-student
rl-bc
sim-to-real
unitree-g1
mocap
2026年7月16日
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
humanoid
whole-body-control
motion-tracking
cvae
teacher-student
unitree-g1
amass
sim-to-real
residual-adaptation
latent-diversity
2026年7月16日
VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
humanoid
whole-body-control
loco-manipulation
egocentric-vision
teacher-student
keypoint-command
motion-tracking
sim-to-real
unitree-g1
dagger
2026年7月16日
InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation
vla
mixture-of-transformers
world-model
visual-foresight
flow-matching
cosmos-tokenizer
internvl3
qwen3-vl
sim-to-real
robotwin
2026年7月16日
人形全身控制族（H2O · HumanPlus · HOVER · ASAP · 人到人形重定向）
humanoid
whole-body-control
loco-manipulation
motion-tracking
retargeting
teleoperation
sim-to-real
teacher-student
deep-dive
2026年7月16日
足式运动与导航族（RMA · Parkour · ViNT/NoMaD · 导航基础模型）
deep-dive
locomotion-nav
legged-locomotion
sim-to-real
teacher-student
privileged-learning
parkour
visual-navigation
foundation-model
image-goal
vln
vla
cross-embodiment
2026年7月16日
仿真与数据生态：具身智能的两台引擎（Isaac · MuJoCo/MJX · Genesis · Newton · ManiSkill · Habitat · Open-X · DROID · 遥操 · 人类视频）
embodied-ai
sim-infra
dataset
data-flywheel
simulator
teleoperation
sim-to-real
human-video
deep-dive
2026年7月16日
具身智能评测（LIBERO/SimplerEnv/CALVIN/Meta-World · 真机成功率 · 泛化）
embodied
benchmark
evaluation
manipulation
generalization
sim-to-real
real2sim
libero
calvin
simpler-env
metaworld
maniskill
reproducibility
2026年7月16日
具身智能 Infra（仿真平台 · GPU 并行 RL · 端上实时推理）
embodied
infra
simulator
gpu-parallel-rl
sim-to-real
inference
edge-hardware
control-frequency
survey
2026年7月16日
具身智能训练方法（模仿学习 · RL · 动作 tokenize · 协同训练 · VLA 后训练）
具身智能
训练方法
模仿学习
强化学习
VLA
动作tokenize
flow-matching
sim-to-real
2026年7月16日
Learning Interactive Real-World Simulators (UniSim)
world-model
video-diffusion
action-conditioned
real-world-simulator
embodied-ai
sim-to-real
model-based-rl
robot-learning
2026年7月16日
Genesis: A Generative and Universal Physics Engine for Robotics and Beyond
world-model
generative-simulation
physics-engine
differentiable-simulation
vlm-agent
robotics
embodied-ai
gpu-acceleration
sim-to-real