الملخص
We present ZeroBot, a real2sim framework for learning a robot manipulation task from scratch in minutes under challenging conditions: zero human demonstrations, zero policy pre-training, and zero known object models. Given only a single view of an object and a goal pose for that object, ZeroBot uses image-to-3D generative models to obtain a complete object mesh, which is used in simulation for large-scale parallel reinforcement learning. To accelerate training, we introduce an action space which leverages the generated geometry and learned value function to sample states involving robot-object contact. When evaluated on real-world tasks including grasping, pushing, articulated object interaction, and multi-stage manipulation, ZeroBot achieves an 87% success rate with an average training time of 119 seconds. These results show the value of using image-to-3D models in a real2sim framework for rapid, autonomous robot learning.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Kapelyukh, I., Zhang, X., James, S., Herlant, L., & Johns, E. (2026). ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim. https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim
MLA 9
Kapelyukh, Ivan, et al. "ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim." https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim.
شيكاغو (المؤلف–التاريخ)
Kapelyukh, Ivan, Xiaohan Zhang, Stephen James, Laura Herlant, and Edward Johns. 2026. "ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim." https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim.
هارفارد
Kapelyukh, I., Zhang, X., James, S., Herlant, L. and Johns, E. (2026) 'ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim', Available at: https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim.
فانكوفر
Kapelyukh I, Zhang X, James S, Herlant L, Johns E. ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim. https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim
IEEE
I. Kapelyukh, X. Zhang, S. James, L. Herlant, and E. Johns, "ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim," https://omanscience.com/ar/articles/zerobot-learning-from-scratch-in-minutes-with-generative-real2sim.