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
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator Xinhai Li Jiajian Li Ziheng Zhang Rui Zhang Fan Jia Tiancai Wang Haoqiang Fan Kuo-Kun Tseng Ruiping Wang 3DGS 78 8 0 18 Nov 2024
Acceleration for Deep Reinforcement Learning using Parallel and Distributed Computing: A Survey Zhihong Liu Xin Xu Peng Qiao Dongsheng Li OffRL 24 2 0 08 Nov 2024
AllGaits: Learning All Quadruped Gaits and Transitions Guillaume Bellegarda M. Shafiee A. Ijspeert 31 1 0 07 Nov 2024
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots Shuqi Zhao Xinghao Zhu Yuxin Chen Chenran Li Xiang Zhang Mingyu Ding Masayoshi Tomizuka 47 4 0 07 Nov 2024
SuperQ-GRASP: Superquadrics-based Grasp Pose Estimation on Larger Objects for Mobile-Manipulation Xun Tu Karthik Desingh 83 2 0 07 Nov 2024
ManiBox: Enhancing Spatial Grasping Generalization via Scalable Simulation Data Generation Hengkai Tan Xuezhou Xu Chengyang Ying Xinyi Mao Songming Liu Xingxing Zhang Hang Su Jun Zhu 46 4 0 04 Nov 2024
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation Haoran Lu Ruihai Wu Yitong Li Sijie Li Ziyu Zhu Chuanruo Ning Yan Shen Longzan Luo Yuanpei Chen Hao Dong AI4CE 67 5 0 02 Nov 2024
BOMP: Bin-Optimized Motion Planning Zachary Tam K. Dharmarajan Tianshuang Qiu Yahav Avigal Jeffrey Ichnowski Ken Goldberg 42 0 0 31 Oct 2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer Tyler Ga Wei Lum Albert H. Li Preston Culbertson K. Srinivasan Aaron D. Ames Mac Schwager Jeannette Bohg 40 2 0 31 Oct 2024
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes Jialiang Zhang Haoran Liu Danshi Li Xinqiang Yu Haoran Geng Yufei Ding Jiayi Chen He Wang 46 17 0 30 Oct 2024
NetworkGym: Reinforcement Learning Environments for Multi-Access Traffic Management in Network Simulation Momin Haider Ming Yin Menglei Zhang Arpit Gupta Jing Zhu Yu-Xiang Wang OffRL 33 1 0 30 Oct 2024
Kinetix: Investigating the Training of General Agents through Open-Ended Physics-Based Control Tasks Michael T. Matthews Michael Beukman Chris Xiaoxuan Lu Jakob Foerster OffRL AI4CE 36 2 0 30 Oct 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 44 3 0 29 Oct 2024
Adversarial Constrained Policy Optimization: Improving Constrained Reinforcement Learning by Adapting Budgets Jianmina Ma Jingtian Ji Yue Gao 23 0 0 28 Oct 2024
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots Tairan He Wenli Xiao Toru Lin Zhengyi Luo Zhenjia Xu ... Changliu Liu Guanya Shi Xiaolong Wang Linxi Fan Yuke Zhu 39 23 0 28 Oct 2024
ImDy: Human Inverse Dynamics from Imitated Observations Xinpeng Liu Junxuan Liang Zili Lin Haowen Hou Yong Li Cewu Lu AI4CE 46 2 0 23 Oct 2024
Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies Guilherme Christmann Ying-Sheng Luo Hanjaya Mandala Wei-Chao Chen 26 0 0 22 Oct 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 32 4 0 17 Oct 2024
State Estimation Transformers for Agile Legged Locomotion Chen Yu Yichu Yang Tianlin Liu Yangwei You Mingliang Zhou Diyun Xiang 31 1 0 17 Oct 2024
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies Zixuan Chen Xialin He Yen-Jen Wang Qiayuan Liao Yanjie Ze ... S. Sastry Jiajun Wu K. Sreenath Saurabh Gupta Xue Bin Peng 65 17 0 15 Oct 2024
Visual Manipulation with Legs Xialin He Chengjing Yuan Wenxuan Zhou Ruihan Yang David Held Xiaolong Wang 56 1 0 15 Oct 2024
Reinforcement Learning For Quadrupedal Locomotion: Current Advancements And Future Perspectives Maurya Gurram Prakash Kumar Uttam Shantipal S. Ohol OffRL 34 0 0 14 Oct 2024
AFlow: Automating Agentic Workflow Generation Jiayi Zhang Jinyu Xiang Zhaoyang Yu Fengwei Teng Xionghui Chen ... Jinlin Wang Bingnan Zheng Bang Liu Yuyu Luo Chenglin Wu AIFin AI4CE 33 33 0 14 Oct 2024
Language-Model-Assisted Bi-Level Programming for Reward Learning from Internet Videos Harsh Mahesheka Zhixian Xie Zihan Wang Wanxin Jin 29 0 0 11 Oct 2024
Extended Friction Models for the Physics Simulation of Servo Actuators Marc Duclusaud G. Passault Vincent Padois Olivier Ly 19 0 0 11 Oct 2024
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning Vassil Atanassov Wanming Yu Alexander L. Mitchell M. N. Finean Ioannis Havoutis SSL 29 1 0 10 Oct 2024
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation Shaunak A. Mehta Rana Soltani Zarrin 31 0 0 09 Oct 2024
ReinDiffuse: Crafting Physically Plausible Motions with Reinforced Diffusion Model Gaoge Han Mingjiang Liang Jinglei Tang Yongkang Cheng Wei Liu Shaoli Huang VGen 46 5 0 09 Oct 2024
M3Bench: Benchmarking Whole-body Motion Generation for Mobile Manipulation in 3D Scenes Zeyu Zhang Sixu Yan Muzhi Han Zaijin Wang Xinggang Wang Song-Chun Zhu Hangxin Liu 49 2 0 09 Oct 2024
A Robust Quadruped Robot with Twisting Waist for Flexible Motions Quancheng Qian Xiaoyi Wei Zonghao Zhang Jiaxin Tu Yueqi Zhang Taixian Hou Xiaofei Gao Peng Zhai Lihua Zhang 29 0 0 08 Oct 2024
FürElise: Capturing and Physically Synthesizing Hand Motions of Piano Performance Ruocheng Wang Pei Xu Haochen Shi Elizabeth Schumann Chenxi Liu 24 3 0 08 Oct 2024
Whole-Body Dynamic Throwing with Legged Manipulators Humphrey Munn Brendan Tidd Peter Böhm M. Gallagher David Howard 39 1 0 08 Oct 2024
Learning Humanoid Locomotion over Challenging Terrain Ilija Radosavovic Sarthak Kamat Trevor Darrell Jitendra Malik 31 12 0 04 Oct 2024
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs Pu Hua Minghuan Liu Annabella Macaluso Yunfeng Lin Weinan Zhang Huazhe Xu Lirui Wang LM&Ro LRM 42 14 0 04 Oct 2024
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control Guy Tevet Sigal Raab S. Cohan Daniele Reda Zhengyi Luo Xue Bin Peng Amit H. Bermano M. van de Panne 43 15 0 04 Oct 2024
Multilingual Topic Classification in X: Dataset and Analysis Dimosthenis Antypas Asahi Ushio Francesco Barbieri Jose Camacho-Collados 32 1 0 04 Oct 2024
Cross-Embodiment Dexterous Grasping with Reinforcement Learning Haoqi Yuan Bohan Zhou Yuhui Fu Zongqing Lu 28 5 0 03 Oct 2024
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations Bohan Zhou Haoqi Yuan Yuhui Fu Zongqing Lu 37 11 0 03 Oct 2024
Efficient Residual Learning with Mixture-of-Experts for Universal Dexterous Grasping Ziye Huang Haoqi Yuan Yuhui Fu Zongqing Lu 37 3 0 03 Oct 2024
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy Ricardo Garcia Shizhe Chen Cordelia Schmid LM&Ro 42 7 0 02 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 43 0 0 01 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Zhiao Huang Roberto Calandra Rui Chen Shan Luo Hao Su 21 28 0 01 Oct 2024
MARLadona -- Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning Zichong Li Filip Bjelonic Victor Klemm Marco Hutter 25 0 0 30 Sep 2024
Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion Xin Duan Ziwen Zhuang Hang Zhao Soeren Schwertfeger 58 2 0 30 Sep 2024
Learning to Swim: Reinforcement Learning for 6-DOF Control of Thruster-driven Autonomous Underwater Vehicles Levi Cai Kevin Chang Yogesh A. Girdhar 27 1 0 30 Sep 2024
Grounded Curriculum Learning Linji Wang Zifan Xu Peter Stone Xuesu Xiao 37 8 0 29 Sep 2024
Constrained Reinforcement Learning for Safe Heat Pump Control Baohe Zhang Lilli Frison Thomas Brox Joschka Bödecker AI4CE 21 0 0 29 Sep 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 170 2 0 29 Sep 2024
The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics Boxi Xia Bokuan Li Jacob Lee Michael Scutari Boyuan Chen AI4CE 31 4 0 29 Sep 2024
LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots Peilin Wu Weiji Xie Jiahang Cao Hang Lai Weinan Zhang 29 1 0 26 Sep 2024