Ruogu Zhang | Searcharxiv

arXiv2026

ExoGS: A 4D Real-to-Sim-to-Real Framework for Scalable Manipulation Data Collection

Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However, previous methods mainly focused on environment-level visual real-to-sim transfer, ignoring the transfer of interactions, which could be challenging and inefficient to obtain purely in simulation especially for contact-rich tasks. We propose ExoGS, a robot-free 4D Real-to-Sim-to-Real framework that captures both static environments and dynamic interactions in the real world and transfers them seamlessly to a simulated environment. It provides a new solution for scalable manipulation data collection and policy learning. ExoGS employs a self-designed robot-isomorphic passive exoskeleton AirExo-3 to capture kinematically consistent trajectories with millimeter-level accuracy and synchronized RGB observations during direct human demonstrations. The robot, objects, and environment are reconstructed as editable 3D Gaussian Splatting assets, enabling geometry-consistent replay and large-scale data augmentation. Additionally, a lightweight Mask Adapter injects instance-level semantics into the policy to enhance robustness under visual domain shifts. Real-world experiments demonstrate that ExoGS significantly improves data efficiency and policy generalization compared to teleoperation-based baselines. Code and hardware files have been released on https://github.com/zaixiabalala/ExoGS.

cs.RO↗

arXiv2025

Universal Connection Schedules for Reconfigurable Networking

Reconfigurable networks are a novel communication paradigm in which the pattern of connectivity between hosts varies rapidly over time. Prior theoretical work explored the inherent tradeoffs between throughput (or, hop-count) and latency, and showed the existence of infinitely many Pareto-optimal designs as the network size tends to infinity. Existing Pareto-optimal designs use a connection schedule which is fine-tuned to the desired hop-count $h$, permitting lower latency as $h$ increases. However, in reality datacenter workloads contain a mix of low-latency and high-latency requests. Using a connection schedule fine-tuned for one request type leads to inefficiencies when serving other types. A more flexible and efficient alternative is a {\em universal schedule}, a single connection schedule capable of attaining many Pareto-optimal tradeoff points simultaneously, merely by varying the choice of routing paths. In this work we present the first universal schedules for oblivious routing. Our constructions yield universal schedules which are near-optimal for all possible hop-counts $h$. The key technical idea is to specialize to a type of connection schedule based on cyclic permutations and to develop a novel Fourier-analytic method for analyzing randomized routing on these connection schedules. We first show that a uniformly random connection schedule suffices with multiplicative error in throughput, and latency optimal up to a $\log N$ factor. We then show that a more carefully designed random connection schedule suffices with additive error in throughput, but improved latency optimal up to only constant factors. Finally, we show that our first randomized construction can be made deterministic using a derandomized version of the Lovett-Meka discrepancy minimization algorithm to obtain the same result.

cs.DS↗