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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics [article]

Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos
2020 arXiv   pre-print
This work presents STReSSD, a framework that uses sound to bridge the simulation-to-reality gap for stochastic dynamics, demonstrated for the canonical case of a bouncing ball.  ...  Sound is an information-rich medium that captures dynamic physical events.  ...  We thank Matthew Matl and all reviewers for their insightful feedback and suggestions.  ... 
arXiv:2011.03136v1 fatcat:l33ie2aiabcmzbcaokuyxpnx3m

A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation [article]

Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg
2021 arXiv   pre-print
Overall, our method addresses the real-to-sim problem probabilistically and helps to better represent the evolution of the state of deformable objects.  ...  We propose a novel methodology for extracting state information from image sequences via a technique to represent the state of a deformable object as a distribution embedding.  ...  Ramos, “STReSSD: [12] J. Grannen, P. Sundaresan, B. Thananjeyan, J. Ichnowski, A. Bal- Sim-to-real from sound for stochastic dynamics,” in Proceedings of akrishna, M. Hwang, V.  ... 
arXiv:2112.05068v1 fatcat:hy33didiafac7kxlntlrco7lyi