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
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation Haofei Lu Yifei Dong Zehang Weng Jens Lundell Danica Kragic 38 0 0 28 Mar 2025
DSO: Aligning 3D Generators with Simulation Feedback for Physical Soundness Ruining Li Chuanxia Zheng Christian Rupprecht Andrea Vedaldi 39 1 0 28 Mar 2025
Exploring the Evolution of Physics Cognition in Video Generation: A Survey Minghui Lin Xiang Wang Yansen Wang Shu Wang Fengqi Dai ... Cunxiang Wang Zhengrong Zuo Nong Sang Siteng Huang Donglin Wang EGVM VGen 87 3 0 27 Mar 2025
AcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control Tianyu Xu Yaoyu Cheng Pinxi Shen Lin Zhao 59 0 0 27 Mar 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 50 3 0 27 Mar 2025
TokenHSI: Unified Synthesis of Physical Human-Scene Interactions through Task Tokenization Liang Pan Zeshi Yang Zhiyang Dou Wenjia Wang Buzhen Huang Bo Dai Taku Komura Jingbo Wang 55 2 0 25 Mar 2025
PartRM: Modeling Part-Level Dynamics with Large Cross-State Reconstruction Model Mingju Gao Yike Pan Huan-ang Gao Zongzheng Zhang Wenyi Li Hao Dong Hao Tang Li Yi Hao Zhao VGen 47 0 0 25 Mar 2025
Zero-Shot Human-Object Interaction Synthesis with Multimodal Priors Yuke Lou Yiming Wang Zhen Wu Rui Zhao Wenjia Wang Mingyi Shi Taku Komura 44 0 0 25 Mar 2025
Target-Aware Video Diffusion Models Taeksoo Kim Hanbyul Joo DiffM VGen 91 1 0 24 Mar 2025
Human-Object Interaction with Vision-Language Model Guided Relative Movement Dynamics Zekai Deng Ye-ling Shi Kaiyang Ji Lan Xu Shaoli Huang Jingya Wang 55 0 0 24 Mar 2025
RLCAD: Reinforcement Learning Training Gym for Revolution Involved CAD Command Sequence Generation Xiaolong Yin Xingyu Lu Jiahang Shen Jingzhe Ni Hailong Li Ruofeng Tong Min Tang Peng Du 3DV 38 0 0 24 Mar 2025
FF-SRL: High Performance GPU-Based Surgical Simulation For Robot Learning Diego DallÁlba Michał Nasket Sabina Kaminska Przemysław Korzeniowski OffRL AI4CE 62 1 0 24 Mar 2025
Transferable Latent-to-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots Ziang Zheng Guojian Zhan Bin Shuai Shengtao Qin J. Li Tao Zhang Shengbo Eben Li 44 0 0 22 Mar 2025
Physical Plausibility-aware Trajectory Prediction via Locomotion Embodiment Hiromu Taketsugu Takeru Oba Takahiro Maeda Shohei Nobuhara Norimichi Ukita 52 1 0 21 Mar 2025
StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion Le Ma Ziyu Meng Tengyu Liu Y. Li Ran Song Wei Zhang Siyuan Huang 65 0 0 19 Mar 2025
1000 Layer Networks for Self-Supervised RL: Scaling Depth Can Enable New Goal-Reaching Capabilities Kevin Wang Ishaan Javali Michał Bortkiewicz Tomasz Trzciñski Benjamin Eysenbach SSL OffRL 72 0 0 19 Mar 2025
Reinforcement learning-based motion imitation for physiologically plausible musculoskeletal motor control Merkourios Simos A. Chiappa Alexander Mathis 41 0 0 18 Mar 2025
EvolvingGrasp: Evolutionary Grasp Generation via Efficient Preference Alignment Yufei Zhu Yiming Zhong Zemin Yang Peishan Cong Jingyi Yu X. Zhu Y. Ma 61 1 0 18 Mar 2025
Versatile Physics-based Character Control with Hybrid Latent Representation Jinseok Bae Jungdam Won Donggeun Lim I. Hwang Y. Kim 44 0 0 17 Mar 2025
Mitigating Cross-Modal Distraction and Ensuring Geometric Feasibility via Affordance-Guided, Self-Consistent MLLMs for Food Preparation Task Planning Yu-Hong Shen Chuan-Yu Wu Yi-Ru Yang Yen-Ling Tai Yi-Ting Chen LRM 36 0 0 17 Mar 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 90 0 0 16 Mar 2025
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact Onur Beker Nico Gürtler Ji Shi A. R. Geist Amirreza Razmjoo Georg Martius Sylvain Calinon 65 0 0 14 Mar 2025
Natural Humanoid Robot Locomotion with Generative Motion Prior Haodong Zhang Liang Zhang Z. Chen Lu Chen Yanjie Wang R. Xiong 73 0 0 13 Mar 2025
MarineGym: A High-Performance Reinforcement Learning Platform for Underwater Robotics Shuguang Chu Zebin Huang Yutong Li Mingwei Lin Ignacio Carlucho Y. Pétillot Canjun Yang OffRL AI4CE 43 0 0 13 Mar 2025
Learning Robotic Policy with Imagined Transition: Mitigating the Trade-off between Robustness and Optimality Wei Xiao Shangke Lyu Zhefei Gong Renjie Wang Donglin Wang 46 1 0 13 Mar 2025
Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds Dikai Liu Tianwei Zhang Jianxiong Yin Simon See OffRL 60 0 0 13 Mar 2025
Masked Sensory-Temporal Attention for Sensor Generalization in Quadruped Locomotion Dikai Liu Tianwei Zhang Jianxiong Yin Simon See 92 1 0 13 Mar 2025
MoRE: Unlocking Scalability in Reinforcement Learning for Quadruped Vision-Language-Action Models Han Zhao Wenxuan Song Donglin Wang Xinyang Tong Pengxiang Ding Xuelian Cheng Zongyuan Ge 57 2 0 11 Mar 2025
Hybrid Deep Reinforcement Learning for Radio Tracer Localisation in Robotic-assisted Radioguided Surgery Hanyi Zhang Kaizhong Deng Zhaoyang Jacopo Hu Baoru Huang Daniel Elson MedIm 44 0 0 11 Mar 2025
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures Qiang Zhang Gang Han Jingkai Sun Wen Zhao Jiahang Cao Jiaxu Wang Hao-Ran Cheng Li Zhang Yijie Guo Renjing Xu AI4CE 39 0 0 11 Mar 2025
DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness Yiming Zhong Qi Jiang Jingyi Yu Yuexin Ma 66 2 0 11 Mar 2025
MoE-Loco: Mixture of Experts for Multitask Locomotion Runhan Huang Shaoting Zhu Yilun Du Hang Zhao MoE 46 0 0 11 Mar 2025
ForceGrip: Reference-Free Curriculum Learning for Realistic Grip Force Control in VR Hand Manipulation DongHeun Han Byungmin Kim RoUn Lee KyeongMin Kim Hyoseok Hwang HyeongYeop Kang 63 0 0 11 Mar 2025
Trinity: A Modular Humanoid Robot AI System Jingkai Sun Qiang Zhang Gang Han Wen Zhao Zhe Yong Yan He Jiaxu Wang Jiahang Cao Yijie Guo Renjing Xu 42 0 0 11 Mar 2025
DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps Md Faizal Karim Mohammed Saad Hashmi Shreya Bollimuntha Mahesh Reddy Tapeti Gaurav Singh Nagamanikandan Govindan K. M. Krishna 51 0 0 11 Mar 2025
JiSAM: Alleviate Labeling Burden and Corner Case Problems in Autonomous Driving via Minimal Real-World Data Runjian Chen Wenqi Shao Bo-Wen Zhang Shaoshuai Shi Li Jiang Ping Luo 53 0 0 11 Mar 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Renjing Xu 51 0 0 11 Mar 2025
VMTS: Vision-Assisted Teacher-Student Reinforcement Learning for Multi-Terrain Locomotion in Bipedal Robots Fu Chen Rui Wan Peidong Liu Nanxing Zheng Bo Zhou 47 0 0 10 Mar 2025
Learning Physics-Based Full-Body Human Reaching and Grasping from Brief Walking References Yitang Li Mingxian Lin Zhuo Lin Yipeng Deng Yue Cao Li Yi 50 1 0 10 Mar 2025
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation Hanzhi Chen Boyang Sun Anran Zhang Marc Pollefeys Stefan Leutenegger LM&Ro 75 0 0 10 Mar 2025
Multi-Robot Collaboration through Reinforcement Learning and Abstract Simulation Adam Labiosa Josiah P. Hanna 54 0 0 07 Mar 2025
MatchMaker: Automated Asset Generation for Robotic Assembly Yian Wang Bingjie Tang Chuang Gan Dieter Fox Kaichun Mo Yashraj S. Narang Iretiayo Akinola 53 0 0 07 Mar 2025
Incentivizing Multi-Tenant Split Federated Learning for Foundation Models at the Network Edge Songyuan Li Jia Hu Geyong Min Haojun Huang FedML 197 0 0 06 Mar 2025
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation Chang Yu Wenxin Du Zeshun Zong Alejandro M. Castro Chenfanfu Jiang Xuchen Han 48 0 0 06 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey Kun Zhang Peng Yun Jun Cen Junhao Cai DiDi Zhu ... Qifeng Chen Jia Pan Wei Zhang Bo Yang Hua Chen 59 1 0 05 Mar 2025
Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets Jiaxin Tu Xiaoyi Wei Yueqi Zhang Taixian Hou Xiaofei Gao Zhiyan Dong Peng Zhai Lihua Zhang 58 0 0 05 Mar 2025
Rebalanced Multimodal Learning with Data-aware Unimodal Sampling Qingyuan Jiang Zhouyang Chi Xiao Ma Qirong Mao Yang Yang Jinhui Tang 67 0 0 05 Mar 2025
MuBlE: MuJoCo and Blender simulation Environment and Benchmark for Task Planning in Robot Manipulation Michal Nazarczuk Karla Stepanova Jan Kristof Behrens Matej Hoffmann K. Mikolajczyk LM&Ro 50 0 0 04 Mar 2025
Impact of Static Friction on Sim2Real in Robotic Reinforcement Learning Xiaoyi Hu Qiao Sun Bailin He Haojie Liu Xueyi Zhang Chunpeng lu Jiangwei Zhong 50 0 0 03 Mar 2025
TACO: General Acrobatic Flight Control via Target-and-Command-Oriented Reinforcement Learning Zikang Yin CanLun Zheng Shiliang Guo Zhenting Wang Shiyu Zhao 79 0 0 03 Mar 2025