Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

24 August 2021

Papers citing "Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning"

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Title
HIL: Hybrid Imitation Learning of Diverse Parkour Skills from Videos Jiadong Wang Yifeng Jiang Haotian Zhang Chen Tessler Davis Rempe Jessica Hodgins Xue Bin Peng 7 0 0 19 May 2025
Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion Zhuoheng Wang Jinyin Zhou Qi Wu 12 0 0 19 May 2025
Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning Zhengyi Luo Chen Tessler Toru Lin Ye Yuan Tairan He ... Yunrong Guo Gal Chechik Kris M. Kitani Linxi Fan Yuke Zhu 17 0 0 18 May 2025
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies Isidoros Marougkas Dhruv Metha Ramesh Joe H. Doerr Edgar Granados Aravind Sivaramakrishnan Abdeslam Boularias Kostas E. Bekris OffRL 4 0 0 17 May 2025
GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation Teli Ma Jia Zheng Zifan Wang Ziyao Gao Jiaming Zhou Junwei Liang 2 0 0 17 May 2025
Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots Huiqiao Fu Haoyu Dong Wentao Xu Zhehao Zhou Guizhou Deng Kaiqiang Tang D. Dong Chunlin Chen 24 0 0 15 May 2025
Evaluating Robustness of Deep Reinforcement Learning for Autonomous Surface Vehicle Control in Field Tests Luis F W Batista Stéphanie Aravecchia Seth Hutchinson C´edric Pradalier 26 0 0 15 May 2025
Infinigen-Sim: Procedural Generation of Articulated Simulation Assets Abhishek Joshi Beining Han Jack Nugent Yiming Zuo Jing Liu ... Tao Sun Alexander R. E. Raistrick Gaowen Liu Yi Shao Jia Deng VGen 34 0 0 15 May 2025
Scaling Multi Agent Reinforcement Learning for Underwater Acoustic Tracking via Autonomous Vehicles Matteo Gallici Ivan Masmitja Mario Martin OffRL 24 0 0 13 May 2025
HuB: Learning Extreme Humanoid Balance Tong Zhang Boyuan Zheng Ruiqian Nai Yingdong Hu Yen-Jen Wang ... Fanqi Lin Jiongye Li Chuye Hong K. Sreenath Yang Gao 28 0 0 12 May 2025
JAEGER: Dual-Level Humanoid Whole-Body Controller Ziluo Ding Haobin Jiang Yuxuan Wang Zhenguo Sun Yu Zhang Xiaojie Niu M. Yang Weishuai Zeng Xinrun Xu Zongqing Lu 31 0 0 10 May 2025
Let Humanoids Hike! Integrative Skill Development on Complex Trails Kwan-Yee Lin Stella X.Yu 29 0 0 09 May 2025
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu Masayoshi Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
ADD: Physics-Based Motion Imitation with Adversarial Differential Discriminators Ziyu Zhang S. Bashkirov Dun Yang Michael Taylor Xue Bin Peng 38 0 0 08 May 2025
Multi-agent Embodied AI: Advances and Future Directions Zhaohan Feng Ruiqi Xue Lei Yuan Yang Yu Ning Ding M. Liu Bingzhao Gao Jian Sun Gang Wang AI4CE 60 1 0 08 May 2025
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions Hongyi Chen Yunchao Yao Yufei Ye Zhixuan Xu Homanga Bharadhwaj Jiashun Wang Shubham Tulsiani Zackory Erickson Jeffrey Ichnowski 35 0 0 07 May 2025
PARC: Physics-based Augmentation with Reinforcement Learning for Character Controllers Michael Xu Yi Shi KangKang Yin Xue Bin Peng 33 0 0 06 May 2025
Visual Imitation Enables Contextual Humanoid Control Arthur Allshire Hongsuk Choi Junyi Zhang David McAllister Anthony Zhang C. Kim Trevor Darrell Pieter Abbeel Jitendra Malik Angjoo Kanazawa LM&Ro 159 0 0 06 May 2025
Automated Hybrid Reward Scheduling via Large Language Models for Robotic Skill Learning Changxin Huang Junyang Liang Yanbin Chang Jingzhao Xu Jianqiang Li 34 0 0 05 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 34 0 0 05 May 2025
TWIST: Teleoperated Whole-Body Imitation System Yanjie Ze Zixuan Chen Joao Pedro Araujo Zi-ang Cao Xue Bin Peng Jiajun Wu Chao Liu 36 1 0 05 May 2025
SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations Runyi Yu Yinhuai Wang Qihan Zhao Hok Wai Tsui Jingbo Wang P. Tan Qifeng Chen OffRL 36 0 0 04 May 2025
DexFlow: A Unified Approach for Dexterous Hand Pose Retargeting and Interaction Xiaoyi Lin Kunpeng Yao Lixin Xu Xinyu Wang Xuetao Li Yijiao Wang Miao Li 34 0 0 02 May 2025
Model Tensor Planning An T. Le K. Nguyen Minh Nhat Vu João Carvalho Jan Peters 35 0 0 02 May 2025
A Neural Network Mode for PX4 on Embedded Flight Controllers Sindre M. Hegre Welf Rehberg M. Kulkarni Kostas Alexis 32 0 0 01 May 2025
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures Junwon Seo Kensuke Nakamura Andrea V. Bajcsy 56 0 0 01 May 2025
Whleaper: A 10-DOF Flexible Bipedal Wheeled Robot Yinglei Zhu Sixiao He Zhenghao Qi Zhuoyuan Yong Yihua Qin Jianyu Chen 29 0 0 30 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 85 4 0 26 Apr 2025
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen Yubin Ke Lin Peng He Wang 31 0 0 26 Apr 2025
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping Atsushi Kanehira Naoki Wake Kazuhiro Sasabuchi Jun Takamatsu Katsushi Ikeuchi 42 0 0 25 Apr 2025
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 83 1 0 23 Apr 2025
A General Infrastructure and Workflow for Quadrotor Deep Reinforcement Learning and Reality Deployment K. Huang Han Wang Yu-Juan Luo Jingyu Chen Jintao Chen Xiangkui Zhang Xiangyang Ji Huaping Liu 33 0 0 21 Apr 2025
Post-Convergence Sim-to-Real Policy Transfer: A Principled Alternative to Cherry-Picking Dylan Khor Bowen Weng 37 1 0 21 Apr 2025
Unreal Robotics Lab: A High-Fidelity Robotics Simulator with Advanced Physics and Rendering Jonathan Embley-Riches Jianwei Liu Simon Julier Dimitrios Kanoulas 43 0 0 19 Apr 2025
Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning Jiyuan Shi Xinzhe Liu Dewei Wang Ouyang Lu Sören Schwertfeger Fuchun Sun Chenjia Bai X. Li 47 0 0 19 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration Tyler Ga Wei Lum Olivia Y. Lee C. Karen Liu Jeannette Bohg 45 1 0 17 Apr 2025
ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping Shun Iwase Zubair Irshad Katherine Liu Vitor Campagnolo Guizilini Robert Lee ... Ayako Amma Koichi Nishiwaki Kris M. Kitani Rares Andrei Ambrus Sergey Zakharov 34 0 0 15 Apr 2025
KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks Edgar Anarossi Yuhwan Kwon Hirotaka Tahara Shohei Tanaka Keisuke Shirai Masashi Hamaya C. C. Beltran-Hernandez Atsushi Hashimoto Takamitsu Matsubara 37 0 0 14 Apr 2025
A highly maneuverable flying squirrel drone with controllable foldable wings Jun-Gill Kang D. Lee Soohee Han 35 1 0 13 Apr 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 37 0 0 11 Apr 2025
Spectral Normalization for Lipschitz-Constrained Policies on Learning Humanoid Locomotion Jaeyong Shin Woohyun Cha Donghyeon Kim Junhyeok Cha Jaeheung Park 31 0 0 11 Apr 2025
Sim-to-Real Transfer in Reinforcement Learning for Maneuver Control of a Variable-Pitch MAV Zhenting Wang Shiyu Zhao 41 0 0 10 Apr 2025
Boosting Universal LLM Reward Design through Heuristic Reward Observation Space Evolution Zen Kit Heng Zimeng Zhao Tianhao Wu Yuanfei Wang Mingdong Wu Yangang Wang Hao Dong 40 0 0 10 Apr 2025
Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection Woohyun Cha Junhyeok Cha Jaeyong Shin Donghyeon Kim Jaeheung Park 36 0 0 09 Apr 2025
PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion Haodong Huang Shilong Sun Zida Zhao Hailin Huang Changqing Shen Wenfu Xu 28 0 0 08 Apr 2025
Deliberate Planning of 3D Bin Packing on Packing Configuration Trees Hang Zhao Juzhan Xu Kexiong Yu Ruizhen Hu Chenyang Zhu K. Xu 72 1 0 06 Apr 2025
GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill Jieming Cui Tengyu Liu Ziyu Meng Jiale Yu Ran Song Wei Zhang Yixin Zhu Siyuan Huang VLM 54 1 0 05 Apr 2025
Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs Sotaro Katayama Yuta Koda Norio Nagatsuka Masaya Kinoshita 56 0 0 01 Apr 2025
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER Rui Zong Martin Liang Yuntian Fang Ke Wang Xiaoshuai Chen Wei Chen Petar Kormushev 31 0 0 01 Apr 2025
Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models Victor Lutz Ludovic de Matteïs Virgile Batto Nicolas Mansard 37 0 0 28 Mar 2025