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
HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion Sixu Lin Guanren Qiao Yunxin Tai Ang Li Kui Jia Guiliang Liu 36 0 0 02 Mar 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator Seokju Lee Hyun-Bin Kim Kyung-soo Kim 33 0 0 01 Mar 2025
HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Models Dehao Huang Wenlong Dong Chao Tang Hong Zhang 46 1 0 01 Mar 2025
Pushing Through Clutter With Movability Awareness of Blocking Obstacles Joris J. Weeda Saray Bakker Gang Chen Javier Alonso-Mora 34 0 0 27 Feb 2025
InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions Sirui Xu Hung Yu Ling Yu-xiong Wang Liang-Yan Gui 55 4 0 27 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 52 8 0 27 Feb 2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping Fan Yang DongSheng Luo Wenrui Chen Jiacheng Lin Junjie Cai Kailun Yang Zehan Li Yaonan Wang 51 0 0 27 Feb 2025
The Role of Tactile Sensing for Learning Reach and Grasp Boya Zhang Iris Andrussow Andreas Zell Georg Martius 59 0 0 27 Feb 2025
FSPO: Few-Shot Preference Optimization of Synthetic Preference Data in LLMs Elicits Effective Personalization to Real Users Anikait Singh Sheryl Hsu Kyle Hsu E. Mitchell Stefano Ermon Tatsunori Hashimoto Archit Sharma Chelsea Finn SyDa OffRL 59 1 0 26 Feb 2025
A Distributional Treatment of Real2Sim2Real for Vision-Driven Deformable Linear Object Manipulation Georgios Kamaras Subramanian Ramamoorthy 34 0 0 25 Feb 2025
OpenFly: A Comprehensive Platform for Aerial Vision-Language Navigation Yunpeng Gao C. Li Zhongrui You Xiaozhong Liu Zhen Li ... Yan Ding Dong Wang Zihan Wang Bin Zhao Xiaomeng Li 47 4 0 25 Feb 2025
TDMPBC: Self-Imitative Reinforcement Learning for Humanoid Robot Control Zifeng Zhuang Diyuan Shi Runze Suo Xiao He Hongyin Zhang Ting Wang Shangke Lyu Donglin Wang 42 0 0 24 Feb 2025
Humanoid Whole-Body Locomotion on Narrow Terrain via Dynamic Balance and Reinforcement Learning Weiji Xie Chenjia Bai Jiyuan Shi Junkai Yang Yunfei Ge Weinan Zhang X. Li 52 3 0 24 Feb 2025
Design of a low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation Jaehyung Kim Jiho Kim Dongryung Lee Yujin Jang Beomjoon Kim 48 0 0 24 Feb 2025
Learning Long-Horizon Robot Manipulation Skills via Privileged Action Xiaofeng Mao Yucheng Xu Zhaole Sun Elle Miller Daniel Layeghi M. Mistry 64 0 0 24 Feb 2025
Synchronize Dual Hands for Physics-Based Dexterous Guitar Playing Pei Xu Ruocheng Wang 58 2 0 20 Feb 2025
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch Zhengrong Xue H. Zhang Jin Cheng Zhengmao He Yuanchen Ju Chan-Yu Lin Gu Zhang Huazhe Xu OffRL 94 9 0 20 Feb 2025
Learning Dexterous Bimanual Catch Skills through Adversarial-Cooperative Heterogeneous-Agent Reinforcement Learning Taewoo Kim Youngwoo Yoon Jaehong Kim 43 0 0 17 Feb 2025
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He Runpei Dong Zixuan Chen Saurabh Gupta 77 5 0 17 Feb 2025
AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning Yuanfei Wang Xiaojie Zhang Ruihai Wu Yu Li Yan Shen Mingdong Wu Zhaofeng He Yizhou Wang Hao Dong 50 3 0 16 Feb 2025
Learning Quiet Walking for a Small Home Robot Ryo Watanabe Takahiro Miki Fan Shi Yuki Kadokawa Filip Bjelonic Kento Kawaharazuka Andrei Cramariuc Marco Hutter 44 1 0 16 Feb 2025
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 52 3 0 15 Feb 2025
Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos Weirui Ye Fangchen Liu Z. Ding Yang Gao Oleh Rybkin Pieter Abbeel VGen OffRL 88 3 0 14 Feb 2025
Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning Egor Cherepanov Nikita Kachaev A. Kovalev Aleksandr I. Panov OffRL 41 0 0 14 Feb 2025
DexTrack: Towards Generalizable Neural Tracking Control for Dexterous Manipulation from Human References Xueyi Liu Jianibieke Adalibieke Qianwei Han Yuzhe Qin Li Yi 74 3 0 13 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yong Li 92 0 0 12 Feb 2025
Generating Physically Realistic and Directable Human Motions from Multi-Modal Inputs Aayam Shrestha Pan Liu German Ros Kai Yuan Alan Fern 65 2 0 08 Feb 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning Patrick Yin Tyler Westenbroek Simran Bagaria Kevin Huang Ching-an Cheng Andrey Kobolov Abhishek Gupta 80 2 0 04 Feb 2025
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation Minwoo Kim Geunsik Bae Jinwoo Lee Woojae Shin Changseung Kim Myong-Yol Choi Heejung Shin H. Oh 81 0 0 04 Feb 2025
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He J. Gao Wenli Xiao Yuyao Zhang Zi Wang ... Jessica Hodgins Linxi Fan Yuke Zhu Changliu Liu Guanya Shi 84 11 0 03 Feb 2025
Reinforcement Learning of Flexible Policies for Symbolic Instructions with Adjustable Mapping Specifications Wataru Hatanaka R. Yamashina Takamitsu Matsubara 110 0 0 31 Jan 2025
Physics-Grounded Differentiable Simulation for Soft Growing Robots Lucas Chen Yitian Gao Sicheng Wang Francesco Fuentes Laura H. Blumenschein Zachary Kingston 43 0 0 29 Jan 2025
Collective Intelligence for 2D Push Manipulations with Mobile Robots So Kuroki T. Matsushima Jumpei Arima Hiroki Furuta Yutaka Matsuo S. Gu Yujin Tang 69 5 0 28 Jan 2025
Learning to Hop for a Single-Legged Robot with Parallel Mechanism Hongbo Zhang X. Chu Yanlin Chen Yunxi Tang Linzhu Yue Yun-Hui Liu K. W. S. Au 39 0 0 21 Jan 2025
Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigation Ziyang Xie Zhizheng Liu Zhenghao Peng Wayne Wu Bolei Zhou VGen 50 3 0 12 Jan 2025
Design and Control of a Bipedal Robotic Character Ruben Grandia Espen Knoop Michael A. Hopkins Georg Wiedebach Jared Bishop Steven Pickles David Müller Moritz Bächer 50 11 0 10 Jan 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 39 0 0 10 Jan 2025
Understanding Expectations for a Robotic Guide Dog for Visually Impaired People J. Kim Morgan Byrd Jack L. Crandell Bruce N. Walker Greg Turk Sehoon Ha 40 2 0 08 Jan 2025
Multi-Scenario Reasoning: Unlocking Cognitive Autonomy in Humanoid Robots for Multimodal Understanding Libo Wang LRM 41 0 0 08 Jan 2025
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 45 5 0 23 Dec 2024
Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration Junjia Liu Zechao Li Minghao Yu Zhipeng Dong Sylvain Calinon Darwin G. Caldwell Fei Chen 83 1 0 19 Dec 2024
Efficient Language-instructed Skill Acquisition via Reward-Policy Co-Evolution Changxin Huang Yanbin Chang Junfan Lin Junyang Liang Runhao Zeng Jianqiang Li 82 0 0 18 Dec 2024
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions Juan Del Aguila Ferrandis João Moura S. Vijayakumar 75 4 0 17 Dec 2024
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 84 0 0 16 Dec 2024
ChatDyn: Language-Driven Multi-Actor Dynamics Generation in Street Scenes Yuxi Wei Jingbo Wang Yuwen Du Dingju Wang Liang Pan Chenxin Xu Yao Feng Bo Dai Siheng Chen AI4CE 84 0 0 11 Dec 2024
Reinforcement Learning from Wild Animal Videos Elliot Chane-Sane Constant Roux O. Stasse Nicolas Mansard 211 0 0 05 Dec 2024
AdaVLN: Towards Visual Language Navigation in Continuous Indoor Environments with Moving Humans Dillon Loh Tomasz Bednarz Xinxing Xia Frank Guan 78 0 0 27 Nov 2024
ELEMENTAL: Interactive Learning from Demonstrations and Vision-Language Models for Reward Design in Robotics Letian Chen Nina Moorman Matthew C. Gombolay OffRL LM&Ro 103 0 0 27 Nov 2024
Are Transformers Truly Foundational for Robotics? James A. R. Marshall Andrew B. Barron AI4CE 73 0 0 25 Nov 2024
Bimanual Grasp Synthesis for Dexterous Robot Hands Yanming Shao Chenxi Xiao 72 3 0 24 Nov 2024