Jialin Li

Xinhai Li, Jialin Li, Ziheng Zhang et al.

Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner. Sampling the episodes under a simulated environment is a promising way for large-scale collection while existing simulators fail to high-fidelity modeling on texture and physics. To address these limitations, we introduce the RoboGSim, a real2sim2real robotic simulator, powered by 3D Gaussian Splatting and the physics engine. RoboGSim mainly includes four parts: Gaussian Reconstructor, Digital Twins Builder, Scene Composer, and Interactive Engine. It can synthesize the simulated data with novel views, objects, trajectories, and scenes. RoboGSim also provides an online, reproducible, and safe evaluation for different manipulation policies. The real2sim and sim2real transfer experiments show a high consistency in the texture and physics. We compared the test results of RoboGSim data and real robot data on both RoboGSim and real robot platforms. The experimental results show that the RoboGSim data model can achieve zero-shot performance on the real robot, with results comparable to real robot data. Additionally, in experiments with novel perspectives and novel scenes, the RoboGSim data model performed even better on the real robot than the real robot data model. This not only helps reduce the sim2real gap but also addresses the limitations of real robot data collection, such as its single-source and high cost. We hope RoboGSim serves as a closed-loop simulator for fair comparison on policy learning. More information can be found on our project page https://robogsim.github.io/.

Xi Jiang, Jian Li, Hanqiu Deng et al.

In the field of industrial inspection, Multimodal Large Language Models (MLLMs) have a high potential to renew the paradigms in practical applications due to their robust language capabilities and generalization abilities. However, despite their impressive problem-solving skills in many domains, MLLMs' ability in industrial anomaly detection has not been systematically studied. To bridge this gap, we present MMAD, the first-ever full-spectrum MLLMs benchmark in industrial Anomaly Detection. We defined seven key subtasks of MLLMs in industrial inspection and designed a novel pipeline to generate the MMAD dataset with 39,672 questions for 8,366 industrial images. With MMAD, we have conducted a comprehensive, quantitative evaluation of various state-of-the-art MLLMs. The commercial models performed the best, with the average accuracy of GPT-4o models reaching 74.9%. However, this result falls far short of industrial requirements. Our analysis reveals that current MLLMs still have significant room for improvement in answering questions related to industrial anomalies and defects. We further explore two training-free performance enhancement strategies to help models improve in industrial scenarios, highlighting their promising potential for future research.