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
World Model-based Perception for Visual Legged Locomotion Hang Lai Jiahang Cao Jiafeng Xu Hongtao Wu Yunfeng Lin Tao Kong Yong Yu Weinan Zhang VGen 34 2 0 25 Sep 2024
Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation Wenxin Du Chang Yu Siyu Ma Ying Jiang Zeshun Zong Yin Yang Joe Masterjohn Alejandro M. Castro Xuchen Han Chenfanfu Jiang 37 0 0 24 Sep 2024
Stage-Wise Reward Shaping for Acrobatic Robots: A Constrained Multi-Objective Reinforcement Learning Approach Dohyeong Kim Hyeokjin Kwon Junseok Kim Gunmin Lee Songhwai Oh 39 6 0 24 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 32 2 0 24 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 55 3 0 24 Sep 2024
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 59 2 0 23 Sep 2024
ReVLA: Reverting Visual Domain Limitation of Robotic Foundation Models Sombit Dey Jan-Nico Zaech Nikolay Nikolov Luc Van Gool Danda Pani Paudel MoMe VLM 59 4 0 23 Sep 2024
Visual-auditory Extrinsic Contact Estimation Xili Yi Jayjun Lee Nima Fazeli 33 1 0 22 Sep 2024
MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting Chen Tessler Yunrong Guo Ofir Nabati Gal Chechik Xue Bin Peng VGen AI4CE 40 30 0 22 Sep 2024
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience Elliot Chane-Sane Joseph Amigo Thomas Flayols Ludovic Righetti Nicolas Mansard 57 6 0 20 Sep 2024
From Cognition to Precognition: A Future-Aware Framework for Social Navigation Zeying Gong Tianshuai Hu Ronghe Qiu Junwei Liang 113 0 0 20 Sep 2024
Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators Fabian Baumeister Lukas Mack Joerg Stueckler 42 2 0 20 Sep 2024
RoboMorph: In-Context Meta-Learning for Robot Dynamics Modeling Manuel Bianchi Bazzi Asad Ali Shahid Christopher Agia J. I. Alora Marco Forgione Dario Piga Francesco Braghin Marco Pavone L. Roveda LM&Ro AI4CE 32 0 0 18 Sep 2024
Agile Continuous Jumping in Discontinuous Terrains Yuxiang Yang Guanya Shi Changyi Lin Xiangyun Meng Rosario Scalise ... Wenhao Yu Tingnan Zhang Ding Zhao Jie Tan Byron Boots 29 2 0 17 Sep 2024
MoDex: Planning High-Dimensional Dexterous Control via Learning Neural Internal Models Tong Wu Shoujie Li Chuqiao Lyu Kit-Wa Sou Wang Sing Chan Wenbo Ding 40 0 0 17 Sep 2024
Benchmarking Sim2Real Gap: High-fidelity Digital Twinning of Agile Manufacturing S. Katyara Suchita Sharma Praveen Damacharla Carlos Garcia Santiago Lubina Dhirani B. S. Chowdhry 29 0 0 16 Sep 2024
Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control Juan Alvarez-Padilla John Z. Zhang Sofia Kwok John M. Dolan Zachary Manchester 43 4 0 16 Sep 2024
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar Naman Saxena Kishore Chandra Shishir Kolathaya 46 3 0 14 Sep 2024
$DexSim2Real$^{2}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation$ DexSim2Real $^{2}$ : Building Explicit World Model for Precise Articulated Object Dexterous Manipulation Taoran Jiang Liqian Ma Yixuan Guan Jiaojiao Meng Weihang Chen Zecui Zeng Lusong Li Dan Wu Jing Xu Rui Chen 33 0 0 13 Sep 2024
AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models Yifei Yao Wentao He Chenyu Gu Jiaheng Du Fuwei Tan Zhen Zhu Junguo Lu OffRL 31 2 0 13 Sep 2024
Hand-Object Interaction Pretraining from Videos Himanshu Gaurav Singh Antonio Loquercio Carmelo Sferrazza Jane Wu Haozhi Qi Pieter Abbeel Jitendra Malik 50 15 0 12 Sep 2024
Robust Robot Walker: Learning Agile Locomotion over Tiny Traps Shaoting Zhu Runhan Huang Linzhan Mou Hang Zhao 37 3 0 11 Sep 2024
Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems Jianheng Liu Chunran Zheng Yunfei Wan Bowen Wang Yixi Cai Fu Zhang 31 2 0 09 Sep 2024
Learning to Open and Traverse Doors with a Legged Manipulator Mike Zhang Yuntao Ma Takahiro Miki Marco Hutter 32 7 0 07 Sep 2024
HUMOS: Human Motion Model Conditioned on Body Shape Shashank Tripathi Omid Taheri Christoph Lassner Michael J. Black Daniel Holden Carsten Stoll 3DH DiffM 70 6 0 05 Sep 2024
A Modern Take on Visual Relationship Reasoning for Grasp Planning Paolo Rabino Tatiana Tommasi 33 1 0 03 Sep 2024
Learning to Singulate Objects in Packed Environments using a Dexterous Hand Hao Jiang Yuhai Wang Hanyang Zhou Daniel Seita 44 2 0 01 Sep 2024
Diffusion Policy Policy Optimization Allen Z. Ren Justin Lidard Lars L. Ankile Anthony Simeonov Pulkit Agrawal Anirudha Majumdar Benjamin Burchfiel Hongkai Dai Max Simchowitz 51 36 0 01 Sep 2024
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation Haozhe Lou Yurong Liu Yike Pan Yiran Geng Jianteng Chen ... Lin Wang Hengzhen Feng Lu Shi Liyi Luo Yongliang Shi AI4CE 50 16 0 27 Aug 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics Yixuan Huang Christopher Agia Jimmy Wu Tucker Hermans Jeannette Bohg 3DPC 49 1 0 27 Aug 2024
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu Yen-Jen Wang Xiang Zhu Chengming Shi Yanjiang Guo Yichen Liu Jianyu Chen 36 36 0 26 Aug 2024
MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion Qi Liu Jingxiang Guo Sixu Lin Shuaikang Ma Jinxuan Zhu Yanjie Li 45 1 0 25 Aug 2024
PhysPart: Physically Plausible Part Completion for Interactable Objects Rundong Luo Haoran Geng Congyue Deng Puhao Li Zan Wang Baoxiong Jia Leonidas J. Guibas Siyuan Huang 32 6 0 25 Aug 2024
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints Fan Yang Thomas Power Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 35 3 0 23 Aug 2024
Multi-Agent Reinforcement Learning for Autonomous Driving: A Survey Ruiqi Zhang Jing Hou Florian Walter Shangding Gu Jiayi Guan Florian Röhrbein Yali Du Panpan Cai G. Chen Alois Knoll 49 13 0 19 Aug 2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control Se Hwan Jeon Seungwoo Hong Ho Jae Lee Charles Khazoom Sangbae Kim 28 3 0 19 Aug 2024
Body Transformer: Leveraging Robot Embodiment for Policy Learning Carmelo Sferrazza Dun-Ming Huang Fangchen Liu Jongmin Lee Pieter Abbeel LM&Ro 48 11 0 12 Aug 2024
SkillMimic: Learning Basketball Interaction Skills from Demonstrations Yinhuai Wang Qihan Zhao Runyi Yu Ailing Zeng Jing Lin ... Xiu Li Qifeng Chen Jian Zhang Lei Zhang Ping Tan 44 1 0 12 Aug 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 46 6 0 12 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 59 8 0 08 Aug 2024
MORTAR: A Model-based Runtime Action Repair Framework for AI-enabled Cyber-Physical Systems Renzhi Wang Zhehua Zhou Jiayang Song Xuan Xie Xiaofei Xie Lei Ma 40 1 0 07 Aug 2024
Integrating Controllable Motion Skills from Demonstrations Honghao Liao Zhiheng Li Ziyu Meng Ran Song Yibin Li Wei Zhang 35 0 0 06 Aug 2024
Enabling High Data Throughput Reinforcement Learning on GPUs: A Domain Agnostic Framework for Data-Driven Scientific Research Tian Lan Huan Wang Caiming Xiong Silvio Savarese AI4CE 34 0 0 01 Aug 2024
SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement Ze Wang Yang Li Long Xu Limalka Sadith Zunwang Ma Liel David Daniel Harari Fei Gao Muhammad Haris Khan Kaiwei Wang 31 0 0 01 Aug 2024
SAPG: Split and Aggregate Policy Gradients Jayesh Singla Ananye Agarwal Deepak Pathak OffRL OnRL 42 3 0 29 Jul 2024
Lessons from Learning to Spin "Pens" Jun Wang Ying Yuan Haichuan Che Haozhi Qi Yi Ma Jitendra Malik Xiaolong Wang 57 14 0 26 Jul 2024
Domain Adaptation of Visual Policies with a Single Demonstration Weiyao Wang Gregory D. Hager 40 0 0 23 Jul 2024
Learning to Play Foosball: System and Baselines Janosch Moos Cedric Derstroff Niklas Schröder Debora Clever 27 0 0 23 Jul 2024
Strategy and Skill Learning for Physics-based Table Tennis Animation Jiashun Wang Jessica Hodgins Jungdam Won 46 10 0 23 Jul 2024
GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization Austin Patel Shuran Song LM&Ro 40 3 0 20 Jul 2024