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
Diverse Policies Converge in Reward-free Markov Decision Processe Fanqing Lin Shiyu Huang Weiwei Tu 30 0 0 23 Aug 2023
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning Jiyuan Shi Chenjia Bai Haoran He Lei Han Dong Wang Bin Zhao Mingguo Zhao Xiuyang Li Xuelong Li OffRL OOD 30 9 0 18 Aug 2023
Synthesizing Physically Plausible Human Motions in 3D Scenes Liang Pan Jingbo Wang Buzhen Huang Junyu Zhang Haofan Wang Xu Tang Yangang Wang 36 27 0 17 Aug 2023
Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World Nicolas Gurtler Felix Widmaier Cansu Sancaktar Sebastian Blaes Pavel Kolev ... Arman Raayatsanati Hehui Zheng Barnabas Gavin Cangan Bernhard Schölkopf Georg Martius OffRL 35 2 0 15 Aug 2023
Neural Categorical Priors for Physics-Based Character Control Qing Zhu He Zhang Mengting Lan Lei Han 34 32 0 14 Aug 2023
Refining 6-DoF Grasps with Context-Specific Classifiers Tasbolat Taunyazov Heng Zhang John Patrick Eala Na Zhao Harold Soh 34 2 0 14 Aug 2023
QDax: A Library for Quality-Diversity and Population-based Algorithms with Hardware Acceleration Félix Chalumeau Bryan Lim Raphael Boige Maxime Allard Luca Grillotti Manon Flageat Valentin Macé Arthur Flajolet Thomas Pierrot Antoine Cully 34 21 0 07 Aug 2023
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints Yasunori Toshimitsu Benedek Forrai Barnabas Gavin Cangan U. Steger Manuel Knecht Stefan Weirich Robert K. Katzschmann 26 20 0 04 Aug 2023
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces Gabriel Arslan Waltersson Y. Karayiannidis 3DV 14 4 0 02 Aug 2023
Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation Zhehua Zhou Jiayang Song Xuan Xie Zhan Shu Lei Ma Dikai Liu Jianxiong Yin Simon See 35 15 0 31 Jul 2023
Learning Generalizable Tool Use with Non-rigid Grasp-pose Registration Malte Mosbach Sven Behnke 43 2 0 31 Jul 2023
ESP: Exploiting Symmetry Prior for Multi-Agent Reinforcement Learning Xin Yu Rongye Shi Pu Feng Yongkai Tian Jie Luo Wenjun Wu 43 7 0 30 Jul 2023
Benchmarking Offline Reinforcement Learning on Real-Robot Hardware Nico Gürtler Sebastian Blaes Pavel Kolev Felix Widmaier Manuel Wüthrich Stefan Bauer Bernhard Schölkopf Georg Martius OffRL 33 28 0 28 Jul 2023
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots M. Kulkarni Huan Nguyen Kostas Alexis 35 8 0 21 Jul 2023
Offline Diversity Maximization Under Imitation Constraints Marin Vlastelica Jin Cheng Georg Martius Pavel Kolev OffRL 44 0 0 21 Jul 2023
Task Space Control of Hydraulic Construction Machines using Reinforcement Learning Hyung-Joo Lee S. Brell-Çokcan 23 0 0 18 Jul 2023
Sampling-based Model Predictive Control Leveraging Parallelizable Physics Simulations Corrado Pezzato C. Salmi Max Spahn Elia Trevisan Javier Alonso-Mora C. H. Corbato 19 5 0 18 Jul 2023
Sim2Plan: Robot Motion Planning via Message Passing between Simulation and Reality Yizhou Zhao Yuanhong Zeng Qiang Long Ying Nian Wu Song-Chun Zhu 35 0 0 15 Jul 2023
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System Yuzhe Qin Wei Yang Binghao Huang Karl Van Wyk Hao Su Xiaolong Wang Yu-Wei Chao Dieter Fox 54 94 0 10 Jul 2023
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation Constantinos Chamzas Caelan Reed Garrett Balakumar Sundaralingam Lydia E. Kavraki Dieter Fox 23 1 0 08 Jul 2023
SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Networks Xingyu Lin John So Sashwat Mahalingam Fangchen Liu Pieter Abbeel SSL 30 22 0 07 Jul 2023
Physics-based Motion Retargeting from Sparse Inputs Daniele Reda Jungdam Won Yuting Ye M. van de Panne Alexander W. Winkler VGen 34 12 0 04 Jul 2023
Decentralized Motor Skill Learning for Complex Robotic Systems Yanjiang Guo Zheyuan Jiang Yen-Jen Wang Jingyue Gao Jianyu Chen 24 6 0 30 Jun 2023
GraMMaR: Ground-aware Motion Model for 3D Human Motion Reconstruction Sihan Ma Qiong Cao Hongwei Yi Jing Zhang Dacheng Tao 3DH 24 3 0 29 Jun 2023
Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry Shengchao Yan Baohe Zhang Yuan Zhang Joschka Boedecker Wolfram Burgard 28 2 0 28 Jun 2023
A Population-Level Analysis of Neural Dynamics in Robust Legged Robots Eugene R. Rush Christoffer Heckman Kaushik Jayaram J. Humbert 34 0 0 27 Jun 2023
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors Gaurav Datta Ryan Hoque Anrui Gu Eugen Solowjow Ken Goldberg 48 3 0 27 Jun 2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots David Hoeller Nikita Rudin Dhionis V. Sako Marco Hutter 46 132 0 26 Jun 2023
Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks Maxime Chevalier-Boisvert Bolun Dai Mark Towers Rodrigo de Lazcano Lucas Willems Salem Lahlou Suman Pal Pablo Samuel Castro Jordan Terry VGen 13 185 0 24 Jun 2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability Xiaolin Fang Caelan Reed Garrett Clemens Eppner Tomás Lozano-Pérez L. Kaelbling Dieter Fox DiffM 35 17 0 22 Jun 2023
Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination Aswin Nahrendra Mi-Suk Oh Byeong-Uk Yu Hyungtae Lim Hyun Myung 31 1 0 22 Jun 2023
ScenarioNet: Open-Source Platform for Large-Scale Traffic Scenario Simulation and Modeling Quanyi Li Zhenghao Peng Lan Feng Zhizheng Liu Chenda Duan Wen-An Mo Bolei Zhou 35 44 0 21 Jun 2023
Reinforcement Learning-based Virtual Fixtures for Teleoperation of Hydraulic Construction Machine Hyung-Joo Lee S. Brell-Çokcan 24 3 0 20 Jun 2023
HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigation Vuong Dinh An Toan Tien Nguyen Minh Nhat Vu Baoru Huang Dzung Nguyen H. Binh T. Vo Anh Nguyen 46 5 0 20 Jun 2023
LAGOON: Language-Guided Motion Control Shusheng Xu Huaijie Wang Jiaxuan Gao Yutao Ouyang Chao Yu Yi Wu LM&Ro 29 1 0 18 Jun 2023
Jumanji: a Diverse Suite of Scalable Reinforcement Learning Environments in JAX Clément Bonnet Daniel Luo Donal Byrne Shikha Surana Sasha Abramowitz ... Siddarth S. Singh Daniel Furelos-Blanco Victor Le Arnu Pretorius Alexandre Laterre 29 29 0 16 Jun 2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller Yuxiang Yang Guanya Shi Xiang Meng Wenhao Yu Tingnan Zhang Jie Tan Byron Boots 44 26 0 16 Jun 2023
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation Guilherme Christmann Ying-Sheng Luo Jonathan Hans Soeseno Wei-Chao Chen 28 2 0 14 Jun 2023
SayTap: Language to Quadrupedal Locomotion Yujin Tang Wenhao Yu Jie Tan Heiga Zen Aleksandra Faust Tatsuya Harada 41 40 0 13 Jun 2023
Galactic: Scaling End-to-End Reinforcement Learning for Rearrangement at 100k Steps-Per-Second Vincent-Pierre Berges Andrew Szot Devendra Singh Chaplot Aaron Gokaslan Roozbeh Mottaghi Dhruv Batra Eric Undersander LRM LM&Ro 40 5 0 13 Jun 2023
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills M. Shafiee Guillaume Bellegarda A. Ijspeert 32 9 0 12 Jun 2023
Learning to Simulate Tree-Branch Dynamics for Manipulation Jayadeep Jacob T. Bandyopadhyay Jason L. Williams Paulo Borges Fabio Ramos AI4CE 29 4 0 06 Jun 2023
TorchRL: A data-driven decision-making library for PyTorch Albert Bou Matteo Bettini Sebastian Dittert Vikash Kumar Shagun Sodhani Xiaomeng Yang Gianni De Fabritiis Vincent Moens OffRL AI4CE 37 37 0 01 Jun 2023
Self-Supervised Learning of Action Affordances as Interaction Modes Liquang Wang Nikita Dvornik R. Dubeau Mayank Mittal Animesh Garg SSL 34 4 0 27 May 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos Dieter Fox Yashraj S. Narang OffRL 27 48 0 26 May 2023
Aerial Gym -- Isaac Gym Simulator for Aerial Robots M. Kulkarni Theodor J. L. Forgaard Kostas Alexis 13 14 0 25 May 2023
Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal Ajay Mandlekar Caelan Reed Garrett Ankur Handa Ruslan Salakhutdinov Dieter Fox 58 54 0 25 May 2023
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback Mark Van der Merwe Youngsun Wi Dmitry Berenson Nima Fazeli 29 8 0 23 May 2023
Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learning Sumeet Batra Bryon Tjanaka Matthew C. Fontaine Aleksei Petrenko Stefanos Nikolaidis Gaurav Sukhatme OffRL 53 12 0 23 May 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim 38 87 0 22 May 2023