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
What Matters to You? Towards Visual Representation Alignment for Robot Learning Ran Tian Chenfeng Xu Masayoshi Tomizuka Jitendra Malik Andrea V. Bajcsy 29 9 0 11 Oct 2023
RoboHive: A Unified Framework for Robot Learning Vikash Kumar Rutav Shah Gaoyue Zhou Vincent Moens Vittorio Caggiano Jay Vakil Abhishek Gupta Aravind Rajeswaran 24 22 0 10 Oct 2023
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation Baichuan Huang Jingjin Yu Siddarth Jain 42 9 0 10 Oct 2023
SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion Xinyu Zhang Zhiyuan Xiao Qingrui Zhang Wei Pan 44 5 0 10 Oct 2023
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement K. N. Kumar Irfan Essa Sehoon Ha 37 6 0 10 Oct 2023
Fully Spiking Neural Network for Legged Robots Xiaoyang Jiang Qiang Zhang Jingkai Sun Jiahang Cao Jingtong Ma Renjing Xu 25 5 0 08 Oct 2023
Guardians as You Fall: Active Mode Transition for Safe Falling Yikai Wang Mengdi Xu Guanya Shi Ding Zhao 26 7 0 07 Oct 2023
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots Samuel Schmidgall Axel Krieger Jason K. Eshraghian OOD 39 5 0 07 Oct 2023
Universal Humanoid Motion Representations for Physics-Based Control Zhengyi Luo Jinkun Cao Josh Merel Alexander Winkler Jing Huang Kris Kitani Weipeng Xu 33 50 0 06 Oct 2023
DRIFT: Deep Reinforcement Learning for Intelligent Floating Platforms Trajectories Matteo El Hariry Antoine Richard Vivek Muralidharan B. Yalçın Matthieu Geist Miguel Olivares-Mendez 23 1 0 06 Oct 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 35 13 0 05 Oct 2023
Learning Diverse Skills for Local Navigation under Multi-constraint Optimality Jin Cheng Marin Vlastelica Pavel Kolev Chenhao Li Georg Martius 43 6 0 03 Oct 2023
Toward Scalable Visual Servoing Using Deep Reinforcement Learning and Optimal Control Salar Asayesh Hossein Sheikhi Darani Mo chen M. Mehrandezh Kamal Gupta 29 1 0 02 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Junfeng Fang 45 17 0 02 Oct 2023
AdaptNet: Policy Adaptation for Physics-Based Character Control Pei Xu Kaixiang Xie Sheldon Andrews P. Kry Michael Neff Morgan McGuire Ioannis Karamouzas Victor Zordan TTA 50 17 0 30 Sep 2023
Generalized Activation via Multivariate Projection Jiayun Li Yuxiao Cheng Yiwen Lu Zhuofan Xia Yilin Mo Gao Huang LLMSV 25 0 0 29 Sep 2023
CrossLoco: Human Motion Driven Control of Legged Robots via Guided Unsupervised Reinforcement Learning Tianyu Li Hyunyoung Jung Matthew C. Gombolay Yong Kwon Cho Sehoon Ha 26 9 0 29 Sep 2023
HyperPPO: A scalable method for finding small policies for robotic control Luming Tang Zhehui Huang Gaurav Sukhatme 30 3 0 28 Sep 2023
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies Carolina Higuera Joseph Ortiz Haozhi Qi Luis Villaseñor-Pineda Byron Boots Mustafa Mukadam 54 4 0 28 Sep 2023
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion JIazhao Zhang Nandiraju Gireesh Jilong Wang Xiaomeng Fang Chaoyi Xu Weiguang Chen Liu Dai He Wang 32 19 0 27 Sep 2023
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models Yixuan Huang Jialin Yuan Chanho Kim Pupul Pradhan Bryan Chen Fuxin Li Tucker Hermans 45 7 0 26 Sep 2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation Annan Tang Takuma Hiraoka Naoki Hiraoka Fan Shi Kento Kawaharazuka Kunio Kojima K. Okada Masayuki Inaba 28 26 0 25 Sep 2023
SPOTS: Stable Placement of Objects with Reasoning in Semi-Autonomous Teleoperation Systems Joonhyung Lee Sangbeom Park Jeongeun Park Kyungjae Lee Sungjoon Choi 44 2 0 25 Sep 2023
Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator Jiayi Chen Yuxing Chen Jialiang Zhang He Wang 50 1 0 24 Sep 2023
Teacher-Student Reinforcement Learning for Mapless Navigation using a Planetary Space Rover Anton Bjorndahl Mortensen Emil Tribler Pedersen Laia Vives Benedicto Lionel Burg Mads Rossen Madsen Simon Boegh 30 0 0 22 Sep 2023
Learning to Walk and Fly with Adversarial Motion Priors Giuseppe L’Erario D. Hanover Angel Romero Yunlong Song Gabriele Nava Paolo Maria Viceconte Daniele Pucci Davide Scaramuzza 39 0 0 22 Sep 2023
H2O+: An Improved Framework for Hybrid Offline-and-Online RL with Dynamics Gaps Haoyi Niu Tianying Ji Bingqi Liu Haocheng Zhao Xiangyu Zhu Jianying Zheng Pengfei Huang Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL AI4CE 31 7 0 22 Sep 2023
OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control Botian Xu Feng Gao Chao Yu Chao Yu Yi Wu Yu Wang 41 28 0 22 Sep 2023
Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning Jingkai Sun Qiang Zhang Yiqun Duan Xiaoyang Jiang Chong Cheng Renjing Xu LM&Ro 53 23 0 20 Sep 2023
$C$\cdot$ASE: Learning Conditional Adversarial Skill Embeddings for Physics-based Characters$ C $\cdot$ ASE: Learning Conditional Adversarial Skill Embeddings for Physics-based Characters Zhiyang Dou Xuelin Chen Qingnan Fan Taku Komura Wenping Wang 36 40 0 20 Sep 2023
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Yi Ma Roberto Calandra Jitendra Malik 63 85 0 18 Sep 2023
Prompt a Robot to Walk with Large Language Models Yen-Jen Wang Bike Zhang Jianyu Chen Koushil Sreenath LM&Ro LLMAG 34 49 0 18 Sep 2023
Contrastive Initial State Buffer for Reinforcement Learning Nico Messikommer Yunlong Song Davide Scaramuzza OffRL 49 9 0 18 Sep 2023
RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance Víctor Mayoral-Vilches Jason J. Jabbour Yu-Shun Hsiao Zishen Wan Martino Crespo-Álvarez ... Niladri Roy Phillip B. Gibbons Sabrina M. Neuman Brian Plancher Vijay Janapa Reddi 49 10 0 17 Sep 2023
From Knowing to Doing: Learning Diverse Motor Skills through Instruction Learning Linqi Ye Jiayi Li Yi Cheng Xianhao Wang Bin Liang Yan Peng 29 7 0 17 Sep 2023
Stylized Table Tennis Robots Skill Learning with Incomplete Human Demonstrations Xiangpei Zhu Zixuan Chen Jianyu Chen 13 0 0 16 Sep 2023
GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps Tasbolat Taunyazov Kelvin Lin Harold Soh 34 0 0 16 Sep 2023
Unified Human-Scene Interaction via Prompted Chain-of-Contacts Zeqi Xiao Tai Wang Jingbo Wang Jinkun Cao Wenwei Zhang Bo Dai Dahua Lin Jiangmiao Pang 49 69 0 14 Sep 2023
Physically Plausible Full-Body Hand-Object Interaction Synthesis Jona Braun Sammy Christen Muhammed Kocabas Emre Aksan Otmar Hilliges 28 38 0 14 Sep 2023
HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Image Hongsuk Choi Nikhil Chavan-Dafle Jiacheng Yuan Volkan Isler Hyunsoo Park 3DH 40 4 0 14 Sep 2023
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience Nathan D. Ratliff Karl Van Wyk AI4CE 13 6 0 14 Sep 2023
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Kenneth Shaw Ananye Agarwal Deepak Pathak 38 82 0 12 Sep 2023
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping Tianhao Wu Mingdong Wu Jiyao Zhang Yunchong Gan Hao Dong 51 20 0 12 Sep 2023
Robot Parkour Learning Ziwen Zhuang Zipeng Fu Jianren Wang Christopher G Atkeson Soeren Schwertfeger Chelsea Finn Hang Zhao 53 148 0 11 Sep 2023
Task-driven Compression for Collision Encoding based on Depth Images M. Kulkarni Kostas Alexis 24 5 0 11 Sep 2023
Learning Sequential Acquisition Policies for Robot-Assisted Feeding Priya Sundaresan Jiajun Wu Dorsa Sadigh LM&Ro 24 10 0 11 Sep 2023
Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control David DeFazio Eisuke Hirota Shiqi Zhang 34 7 0 08 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 Sep 2023
Reinforcement Learning of Action and Query Policies with LTL Instructions under Uncertain Event Detector Wataru Hatanaka R. Yamashina Takamitsu Matsubara 34 5 0 06 Sep 2023
Potato: A Data-Oriented Programming 3D Simulator for Large-Scale Heterogeneous Swarm Robotics Jinjie Li Liang Han Haoyang Yu Zhaotian Wang Pengzhi Yang Ziwei Yan Zhang Ren 17 2 0 24 Aug 2023