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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Webots.HPC: A Parallel Robotics Simulation Pipeline for A...
Matt Franchi · 2021-08-02 · via cs.RO updates on arXiv.org

In the rapidly evolving and maturing field of robotics, computer simulation has become an invaluable tool in the design process. Webots, a state-of-the-art robotics simulator, is often the software of choice for robotics research. Even so, Webots simulations are often run on personal and lab computers. For projects that would benefit from an aggregated output dataset from thousands of simulation runs, there is no standard recourse; this project sets out to mitigate this by developing a formalized parallel pipeline for running sequences of Webots simulations on powerful HPC resources. Such a pipeline would allow researchers to generate massive datasets from their simulations, opening the door for potential machine learning applications and decision tool development. We have developed a pipeline capable of running Webots simulations both headlessly and in GUI-enabled mode over an SSH X11 server, with simulation execution occurring remotely on HPC compute nodes. Additionally, simulations can be run in sequence, with a batch job being distributed across an arbitrary number of computing nodes and each node having multiple instances running in parallel. The implemented distribution and parallelization are extremely effective, with a 100\% simulation completion rate after 12 hours of runs. Overall, this pipeline is very capable and can be used to extend existing projects or serve as a platform for new robotics simulation endeavors.