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"

50 / 729 papers shown

Title
Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization Luigi Campanaro Siddhant Gangapurwala W. Merkt Ioannis Havoutis 52 13 0 26 Sep 2022
Advanced Skills by Learning Locomotion and Local Navigation End-to-End Nikita Rudin David Hoeller Marko Bjelonic Marco Hutter 80 71 0 26 Sep 2022
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers Yixuan Huang Adam Conkey Tucker Hermans 17 26 0 24 Sep 2022
QuestSim: Human Motion Tracking from Sparse Sensors with Simulated Avatars Alexander W. Winkler Jungdam Won Yuting Ye 45 116 0 20 Sep 2022
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions Chenhao Li Sebastian Blaes Pavel Kolev Marin Vlastelica Jonas Frey Georg Martius SSL 51 29 0 16 Sep 2022
Volumetric-based Contact Point Detection for 7-DoF Grasping Junhao Cai Jingcheng Su Zi-Ye Zhou Hui Cheng Qifeng Chen M. Y. Wang 3DPC 43 9 0 14 Sep 2022
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion Julen Urain Niklas Funk Jan Peters Georgia Chalvatzaki DiffM 58 121 0 08 Sep 2022
Neural Approaches to Co-Optimization in Robotics Charles B. Schaff 31 1 0 01 Sep 2022
MoCapAct: A Multi-Task Dataset for Simulated Humanoid Control Nolan Wagener Andrey Kolobov Felipe Vieira Frujeri Ricky Loynd Ching-An Cheng Matthew J. Hausknecht 27 21 0 15 Aug 2022
MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesis Maximilian Gilles Yuhao Chen Tim Robin Winter E. Z. Zeng Alexander Wong 23 24 0 08 Aug 2022
RobotIO: A Python Library for Robot Manipulation Experiments Lukás Hermann Max Argus Adrian Roefer Abhinav Valada Thomas Brox 38 1 0 27 Jul 2022
N-LIMB: Neural Limb Optimization for Efficient Morphological Design Charles B. Schaff Matthew R. Walter 19 5 0 24 Jul 2022
Human-to-Robot Imitation in the Wild Shikhar Bahl Abhi Gupta Deepak Pathak 30 165 0 19 Jul 2022
TransGrasp: Grasp Pose Estimation of a Category of Objects by Transferring Grasps from Only One Labeled Instance Hongtao Wen Jianhang Yan Wanli Peng Yi Sun 25 15 0 16 Jul 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 20 9 0 14 Jul 2022
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots Nathan J. Kong Chuanzheng Li Aaron M. Johnson 30 32 0 11 Jul 2022
High Performance Simulation for Scalable Multi-Agent Reinforcement Learning Jordan Langham-Lopez Sebastian M. Schmon Patrick W Cannon AI4CE 22 0 0 08 Jul 2022
VMAS: A Vectorized Multi-Agent Simulator for Collective Robot Learning Matteo Bettini Ryan Kortvelesy J. Blumenkamp Amanda Prorok 18 36 0 07 Jul 2022
Retro-RL: Reinforcing Nominal Controller With Deep Reinforcement Learning for Tilting-Rotor Drones Aswin Nahrendra Christian Tirtawardhana Byeong-Uk Yu E. Lee Hyunsam Myung OffRL 19 8 0 07 Jul 2022
Learning fast and agile quadrupedal locomotion over complex terrain Xu Chang Zhitong Zhang Honglei An Hongxu Ma Qing Wei 27 0 0 02 Jul 2022
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision Ryan Hoque L. Chen Satvik Sharma K. Dharmarajan Brijen Thananjeyan Pieter Abbeel Ken Goldberg 30 30 0 29 Jun 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 61 277 0 28 Jun 2022
When to Trust Your Simulator: Dynamics-Aware Hybrid Offline-and-Online Reinforcement Learning Haoyi Niu Shubham Sharma Yiwen Qiu Ming Li Guyue Zhou Jianming Hu Xianyuan Zhan OffRL OnRL 29 46 0 27 Jun 2022
VRKitchen2.0-IndoorKit: A Tutorial for Augmented Indoor Scene Building in Omniverse Yizhou Zhao Steven Gong Xiaofeng Gao Wensi Ai Song-Chun Zhu VGen 29 5 0 23 Jun 2022
Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Chenhao Li Marin Vlastelica Sebastian Blaes Jonas Frey F. Grimminger Georg Martius 18 65 0 23 Jun 2022
EnvPool: A Highly Parallel Reinforcement Learning Environment Execution Engine Jiayi Weng Min-Bin Lin Shengyi Huang Bo Liu Denys Makoviichuk ... Yufan Song Ting Luo Yukun Jiang Zhongwen Xu Shuicheng Yan MoE 16 59 0 21 Jun 2022
Fast Population-Based Reinforcement Learning on a Single Machine Arthur Flajolet Claire Bizon Monroc Karim Beguir Thomas Pierrot OffRL 30 10 0 17 Jun 2022
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning Yuanpei Chen Tianhao Wu Shengjie Wang Xidong Feng Jiechuan Jiang ... Yiran Geng Hao Dong Zongqing Lu Song-Chun Zhu Yaodong Yang OffRL 41 109 0 17 Jun 2022
GMI-DRL: Empowering Multi-GPU Deep Reinforcement Learning with GPU Spatial Multiplexing Yuke Wang Boyuan Feng Zihan Wang Tong Geng Ang Li Yufei Ding AI4CE 49 0 0 16 Jun 2022
Neural Scene Representation for Locomotion on Structured Terrain David Hoeller Nikita Rudin Chris Choy Anima Anandkumar Marco Hutter 35 32 0 16 Jun 2022
Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks Josip Josifovski M. Malmir Noah Klarmann B. L. Žagar Nicolás Navarro-Guerrero Alois C. Knoll 33 17 0 13 Jun 2022
MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control Vittorio Caggiano Huawei Wang G. Durandau Massimo Sartori Vikash Kumar 22 88 0 26 May 2022
Co-design of Embodied Neural Intelligence via Constrained Evolution Zhiquan Wang Bedrich Benes A. H. Qureshi Christos Mousas 16 4 0 21 May 2022
A Review of Safe Reinforcement Learning: Methods, Theory and Applications Shangding Gu Longyu Yang Yali Du Guang Chen Florian Walter Jun Wang Alois C. Knoll OffRL AI4TS 117 239 0 20 May 2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers Yu-Wei Chao Chris Paxton Yu Xiang Wei Yang Balakumar Sundaralingam Tao Chen Adithyavairavan Murali Maya Cakmak Dieter Fox 64 17 0 19 May 2022
Factory: Fast Contact for Robotic Assembly Yashraj S. Narang Kier Storey Iretiayo Akinola Miles Macklin Philipp Reist ... Ádám Moravánszky Gavriel State Michelle Lu Ankur Handa Dieter Fox 32 75 0 07 May 2022
Rapid Locomotion via Reinforcement Learning G. Margolis Ge Yang Kartik Paigwar Tao Chen Pulkit Agrawal 49 228 0 05 May 2022
ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters Xue Bin Peng Yunrong Guo L. Halper Sergey Levine Sanja Fidler 28 15 0 04 May 2022
Accelerated Policy Learning with Parallel Differentiable Simulation Jie Xu Viktor Makoviychuk Yashraj S. Narang Fabio Ramos Wojciech Matusik Animesh Garg Miles Macklin 24 85 0 14 Apr 2022
Custom Sine Waves Are Enough for Imitation Learning of Bipedal Gaits with Different Styles Qi Wu Chong Zhang Yanchen Liu 24 3 0 08 Apr 2022
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots Patrick E. Lancaster Christoforos Mavrogiannis S. Srinivasa Joshua R. Smith 16 4 0 05 Apr 2022
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation Patrick E. Lancaster Pratik Gyawali Christoforos Mavrogiannis S. Srinivasa Joshua R. Smith 33 5 0 05 Apr 2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments Jonas Frey David Hoeller Shehryar Khattak Marco Hutter 26 53 0 29 Mar 2022
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints Xinghao Zhu Siddarth Jain Masayoshi Tomizuka J. Baar 3DH 8 11 0 29 Mar 2022
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning Eric Vollenweider Marko Bjelonic Victor Klemm Nikita Rudin Joonho Lee Marco Hutter 10 70 0 23 Mar 2022
Environment induced emergence of collective behaviour in evolving swarms with limited sensing Fuda van Diggelen Jie Luo Tugay Alperen Karagüzel Nicolas Cambier E. Ferrante A. E. Eiben 19 7 0 22 Mar 2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin R. Bajcsy Tucker Hermans Dieter Fox 14 25 0 21 Mar 2022
Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning Seyed Kamyar Seyed Ghasemipour Daniel Freeman Byron David S. Gu Satoshi Kataoka Igor Mordatch OffRL 27 25 0 15 Mar 2022
Masked Visual Pre-training for Motor Control Tete Xiao Ilija Radosavovic Trevor Darrell Jitendra Malik SSL 34 242 0 11 Mar 2022
Learning Torque Control for Quadrupedal Locomotion Shuxiao Chen Bike Zhang M. Mueller Akshara Rai K. Sreenath 21 37 0 10 Mar 2022