Yasuyuki Matsushita

ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration

Heecheol Kim, Namiko Saito, Katsushi Ikeuchi, Yasuyuki Matsushita

Sim-to-real policy transfer -- deploying policies trained in simulation in the real world -- is a promising paradigm for scaling robot manipulation without large-scale real-world data. However, transferring simulation-trained policies remains challenging due to discrepancies in c…Read more