CyberDemo：增强模拟人类演示以用于现实世界灵巧操作
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation
- UC San Diego（加州大学圣迭戈分校）
- University of Southern California（南加州大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出 CyberDemo，通过在模拟环境中增强人类演示并迁移到真实机器人，在多任务成功率和未见物体泛化上优于真实演示基线。
AI中文摘要：
我们提出 CyberDemo，这是一种新颖的机器人模仿学习方法，利用模拟人类演示完成现实世界任务。通过在模拟环境中引入大规模数据增强，CyberDemo 在迁移到现实世界时优于传统的域内真实世界演示，能够处理多样的物理和视觉条件。尽管其数据采集成本低且方便，CyberDemo 仍在各类任务的成功率上优于基线方法，并对先前未见过的物体表现出泛化能力。例如，尽管人类演示只涉及三阀门，它仍能旋转新颖的四阀门和五阀门。我们的研究证明了模拟人类演示在现实世界灵巧操作任务中的巨大潜力。更多细节可见 https://cyber-demo.github.io
英文摘要：
We introduce CyberDemo, a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks. By incorporating extensive data augmentation in a simulated environment, CyberDemo outperforms traditional in-domain real-world demonstrations when transferred to the real world, handling diverse physical and visual conditions. Regardless of its affordability and convenience in data collection, CyberDemo outperforms baseline methods in terms of success rates across various tasks and exhibits generalizability with previously unseen objects. For example, it can rotate novel tetra-valve and penta-valve, despite human demonstrations only involving tri-valves. Our research demonstrates the significant potential of simulated human demonstrations for real-world dexterous manipulation tasks. More details can be found at https://cyber-demo.github.io
