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
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots Daniel Marew Nisal Perera Shangqun Yu Sarah Roelker Donghyun Kim 35 4 0 19 Jul 2024
Random Latent Exploration for Deep Reinforcement Learning Srinath Mahankali Zhang-Wei Hong Ayush Sekhari Alexander Rakhlin Pulkit Agrawal 33 3 0 18 Jul 2024
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards Fatemeh Zargarbashi Jin Cheng Dongho Kang Robert Sumner Stelian Coros 113 8 0 16 Jul 2024
APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation Daichi Saito Atsushi Kanehira Kazuhiro Sasabuchi Naoki Wake Jun Takamatsu Hideki Koike Katsushi Ikeuchi 45 0 0 16 Jul 2024
Back to Newton's Laws: Learning Vision-based Agile Flight via Differentiable Physics Yuang Zhang Yu Hu Yunlong Song Danping Zou Weiyao Lin 38 17 0 15 Jul 2024
SuperPADL: Scaling Language-Directed Physics-Based Control with Progressive Supervised Distillation Jordan Juravsky Yunrong Guo Sanja Fidler Xue Bin Peng AI4CE 39 9 0 15 Jul 2024
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Pipeline for Multi-Dexterous Robotic Hands Zhengsheng Zhang Lei Zhou Chenchen Liu Zhiyang Liu Chengran Yuan Sheng Guo Ruiteng Zhao Marcelo H. Ang Francis EH Tay 55 8 0 13 Jul 2024
A Review of Nine Physics Engines for Reinforcement Learning Research Michael Kaup Cornelius Wolff Hyerim Hwang Julius Mayer Elia Bruni AI4CE 45 5 0 11 Jul 2024
A Deep Reinforcement Learning Framework and Methodology for Reducing the Sim-to-Real Gap in ASV Navigation Luis F W Batista Junghwan Ro Antoine Richard Pete Schroepfer Seth Hutchinson C´edric Pradalier AI4CE 20 3 0 11 Jul 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 41 13 0 10 Jul 2024
Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation Tao Chen Eric A. Cousineau Naveen Kuppuswamy Pulkit Agrawal 32 7 0 10 Jul 2024
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing Jessica Yin Haozhi Qi Jitendra Malik James Pikul Mark H. Yim Tess Hellebrekers 47 5 0 10 Jul 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Yang Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 51 50 0 09 Jul 2024
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour Ci Chen Jiyu Yu Haojian Lu Hongbo Gao R. Xiong Yue Wang 54 0 0 09 Jul 2024
Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation Chuye Hong K. Huang Huaping Liu 40 2 0 09 Jul 2024
RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios Liming Zheng Feng Yan Fanfan Liu Chengjian Feng Zhuoliang Kang Lin Ma 42 2 0 09 Jul 2024
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains Gvs Mothish Manan Tayal Shishir Kolathaya 44 4 0 07 Jul 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang Junjie Ye Haoran Geng Jiageng Mao Congyue Deng Leonidas J. Guibas He Wang Yue Wang LM&Ro 51 22 0 05 Jul 2024
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots Zhiyuan Xiao Xinyu Zhang Xiang Zhou Qingrui Zhang 37 3 0 05 Jul 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 46 14 0 02 Jul 2024
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope Haodi Hu Feifei Qian Daniel Seita 60 2 0 02 Jul 2024
Non-Prehensile Aerial Manipulation using Model-Based Deep Reinforcement Learning Cora A. Dimmig Marin Kobilarov 23 1 0 01 Jul 2024
SMPLOlympics: Sports Environments for Physically Simulated Humanoids Zhengyi Luo Jiashun Wang Kangni Liu Haotian Zhang Chen Tessler ... Jinkun Cao Zihui Lin Fengyi Wang Jessica Hodgins Kris Kitani 26 13 0 28 Jun 2024
HumanVLA: Towards Vision-Language Directed Object Rearrangement by Physical Humanoid Xinyu Xu Yizheng Zhang Yong-Lu Li Lei Han Cewu Lu 69 8 0 28 Jun 2024
Modeling the Real World with High-Density Visual Particle Dynamics William F. Whitney Jacob Varley Deepali Jain Krzysztof Choromanski Sumeet Singh Vikas Sindhwani 37 2 0 28 Jun 2024
Text2Robot: Evolutionary Robot Design from Text Descriptions Ryan P. Ringel Zachary S. Charlick Jiaxun Liu Boxi Xia Boyuan Chen 58 2 0 28 Jun 2024
CORE4D: A 4D Human-Object-Human Interaction Dataset for Collaborative Object REarrangement Chengwen Zhang Yun-Hai Liu Ruofan Xing Bingda Tang Li Yi 46 10 0 27 Jun 2024
PlaMo: Plan and Move in Rich 3D Physical Environments Assaf Hallak Gal Dalal Chen Tessler Kelly Guo Shie Mannor Gal Chechik 34 1 0 26 Jun 2024
Human-centered In-building Embodied Delivery Benchmark Zhuoqun Xu Yang Liu Xiaoqi Li Jiyao Zhang Hao Dong 42 0 0 25 Jun 2024
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models Hersh Sanghvi Spencer Folk Camillo J Taylor 47 3 0 25 Jun 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 45 2 0 24 Jun 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 40 2 0 24 Jun 2024
Gaussian-Informed Continuum for Physical Property Identification and Simulation Junhao Cai Yuji Yang Weihao Yuan Yisheng He Zilong Dong Liefeng Bo Hui Cheng Qifeng Chen 3DV 3DGS 39 6 0 21 Jun 2024
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation Jin Wang Rui Dai Weijie Wang Luca Rossini Francesco Ruscelli Nikos Tsagarakis 39 4 0 20 Jun 2024
CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics Jiawei Gao Ziqin Wang Zeqi Xiao Jingbo Wang Tai Wang Jinkun Cao Xiaolin Hu Si Liu Jifeng Dai Jiangmiao Pang 50 14 0 20 Jun 2024
IRASim: Learning Interactive Real-Robot Action Simulators Fangqi Zhu Hongtao Wu Song Guo Yuxiao Liu Chilam Cheang Tao Kong 80 14 0 20 Jun 2024
Discovering Minimal Reinforcement Learning Environments Jarek Liesen Chris Xiaoxuan Lu Andrei Lupu Jakob N. Foerster Henning Sprekeler R. T. Lange OffRL 54 3 0 18 Jun 2024
FetchBench: A Simulation Benchmark for Robot Fetching Beining Han Meenal Parakh Derek Geng Jack A. Defay Luyang Gan Jia Deng 48 1 0 17 Jun 2024
Humanoid Parkour Learning Ziwen Zhuang Shenzhe Yao Hang Zhao 51 37 0 15 Jun 2024
Realistic Data Generation for 6D Pose Estimation of Surgical Instruments Juan Antonio Barragan Jintan Zhang Haoying Zhou Adnan Munawar Peter Kazanzides MedIm 44 4 0 11 Jun 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts Chong Zhang Wenli Xiao Tairan He Guanya Shi 42 40 0 10 Jun 2024
Language Guided Skill Discovery Seungeun Rho Laura Smith Tianyu Li Sergey Levine Xue Bin Peng Sehoon Ha LM&Ro 42 4 0 07 Jun 2024
RoboCoder: Robotic Learning from Basic Skills to General Tasks with Large Language Models Jingyao Li Pengguang Chen Sitong Wu Chuanyang Zheng Hong Xu Jiaya Jia ELM 37 0 0 06 Jun 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 77 43 0 04 Jun 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 17 0 03 Jun 2024
Fourier Controller Networks for Real-Time Decision-Making in Embodied Learning Hengkai Tan Songming Liu Kai Ma Chengyang Ying Xingxing Zhang Hang Su Jun Zhu 42 2 0 30 May 2024
Dynamic Throwing with Robotic Material Handling Machines Lennart Werner Fang Nan Pol Eyschen Filippo A. Spinelli Hongyi Yang Marco Hutter 47 1 0 29 May 2024
An Open-Source Reproducible Chess Robot for Human-Robot Interaction Research Renchi Zhang J. D. Winter Dimitra Dodou H. Seyffert Y. B. Eisma 44 0 0 28 May 2024
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains Shangqun Yu Nisal Perera Daniel Marew Donghyun Kim 32 3 0 27 May 2024
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach Justin Carpentier Louis Montaut Quentin Le Lidec 32 8 0 27 May 2024