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"

50 / 731 papers shown

Title
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 35 8 0 27 May 2024
PEAC: Unsupervised Pre-training for Cross-Embodiment Reinforcement Learning Chengyang Ying Zhongkai Hao Xinning Zhou Xuezhou Xu Hang Su Xingxing Zhang Jun Zhu 37 4 0 23 May 2024
Maximum Entropy Reinforcement Learning via Energy-Based Normalizing Flow Chen-Hao Chao Chien Feng Wei-Fang Sun Cheng-Kuang Lee Simon See Chun-Yi Lee 41 1 0 22 May 2024
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi Chong Zhang Takahiro Miki Joonho Lee Marco Hutter Stelian Coros AAML 51 12 0 21 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 42 26 0 16 May 2024
SPIN: Simultaneous Perception, Interaction and Navigation Shagun Uppal Ananye Agarwal Haoyu Xiong Kenneth Shaw Deepak Pathak LRM 42 14 0 13 May 2024
Motion Keyframe Interpolation for Any Human Skeleton via Temporally Consistent Point Cloud Sampling and Reconstruction Clinton Mo Kun Hu Chengjiang Long Dong Yuan Zhiyong Wang 3DH 42 1 0 13 May 2024
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch Max Yang Chenghua Lu Alex Church Yijiong Lin Christopher J. Ford Haoran Li Efi Psomopoulou David A.W. Barton Nathan Lepora 62 15 0 12 May 2024
DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model Yang Jin Jun Lv Shuqiang Jiang Cewu Lu 48 1 0 12 May 2024
Learning Reward for Robot Skills Using Large Language Models via Self-Alignment Yuwei Zeng Yao Mu Lin Shao 42 12 0 12 May 2024
Evaluating Real-World Robot Manipulation Policies in Simulation Xuanlin Li Kyle Hsu Jiayuan Gu Karl Pertsch Oier Mees ... Jiajun Wu Chelsea Finn Hao Su Q. Vuong Ted Xiao OffRL 43 64 0 09 May 2024
Meta-Evolve: Continuous Robot Evolution for One-to-many Policy Transfer Xingyu Liu Deepak Pathak Ding Zhao 39 6 0 06 May 2024
The Role of Predictive Uncertainty and Diversity in Embodied AI and Robot Learning Ransalu Senanayake 32 8 0 06 May 2024
Learning Force Control for Legged Manipulation Tifanny Portela G. Margolis Yandong Ji Pulkit Agrawal 41 16 0 02 May 2024
LEGENT: Open Platform for Embodied Agents Zhili Cheng Zhitong Wang Jinyi Hu Shengding Hu An Liu Yuge Tu Pengkai Li Lei Shi Zhiyuan Liu Maosong Sun VLM 38 6 0 28 Apr 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 40 7 0 28 Apr 2024
Open-Set 3D Semantic Instance Maps for Vision Language Navigation -- O3D-SIM Laksh Nanwani Kumaraditya Gupta Aditya Mathur Swayam Agrawal A. H. A. Hafez K. M. Krishna 40 0 0 27 Apr 2024
Knowledge Transfer for Cross-Domain Reinforcement Learning: A Systematic Review Sergio A. Serrano J. Martínez-Carranza L. Sucar 41 0 0 26 Apr 2024
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly Hao-ming Lin Radu Corcodel Ding Zhao 40 7 0 26 Apr 2024
Ag2Manip: Learning Novel Manipulation Skills with Agent-Agnostic Visual and Action Representations Puhao Li Tengyu Liu Yuyang Li Muzhi Han Haoran Geng Shu Wang Yixin Zhu Song-Chun Zhu Siyuan Huang 39 16 0 26 Apr 2024
PhyRecon: Physically Plausible Neural Scene Reconstruction Junfeng Ni Yixin Chen Bohan Jing Nan Jiang Bin Wang Bo Dai Puhao Li Yixin Zhu Song-Chun Zhu Siyuan Huang 54 13 0 25 Apr 2024
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity Qinxi Yu Masoud Moghani K. Dharmarajan Vincent Schorp Will Panitch ... Kush Hari Huang Huang Mayank Mittal Ken Goldberg Animesh Garg 45 14 0 24 Apr 2024
Closed Loop Interactive Embodied Reasoning for Robot Manipulation Michal Nazarczuk Jan Kristof Behrens Karla Stepanova Matej Hoffmann K. Mikolajczyk LM&Ro LRM 57 1 0 23 Apr 2024
Learning H-Infinity Locomotion Control Junfeng Long Wenye Yu Quanyi Li Zirui Wang Dahua Lin Jiangmiao Pang 40 7 0 22 Apr 2024
Spatio-Temporal Motion Retargeting for Quadruped Robots Taerim Yoon Dongho Kang Seungmin Kim Minsung Ahn Stelian Coros Sungjoon Choi 39 3 0 17 Apr 2024
QuasiSim: Parameterized Quasi-Physical Simulators for Dexterous Manipulations Transfer Xueyi Liu Kangbo Lyu Jieqiong Zhang Tao Du Li Yi 43 4 0 11 Apr 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner Chenxi Liu 39 3 0 11 Apr 2024
Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot Shintaro Inoue Kento Kawaharazuka K. Okada Masayuki Inaba 37 2 0 09 Apr 2024
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer Xinyang Gu Yen-Jen Wang Jianyu Chen 44 35 0 08 Apr 2024
Stochastic Online Optimization for Cyber-Physical and Robotic Systems Hao Ma Melanie Zeilinger Michael Muehlebach 62 0 0 08 Apr 2024
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation Gaurav Singh Sanket Kalwar Md Faizal Karim Bipasha Sen Nagamanikandan Govindan Srinath Sridhar K. M. Krishna 35 7 0 06 Apr 2024
ToolEENet: Tool Affordance 6D Pose Estimation Yunlong Wang Lei Zhang Yuyang Tu Hui Zhang Kaixin Bai Zhaopeng Chen Jianwei Zhang 30 1 0 05 Apr 2024
SemGrasp: Semantic Grasp Generation via Language Aligned Discretization Kailin Li Jingbo Wang Lixin Yang Cewu Lu Bo Dai 48 16 0 04 Apr 2024
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 46 3 0 04 Apr 2024
Task-priority Intermediated Hierarchical Distributed Policies: Reinforcement Learning of Adaptive Multi-robot Cooperative Transport Yusei Naito Tomohiko Jimbo Tadashi Odashima Takamitsu Matsubara 41 1 0 02 Apr 2024
Entity-Centric Reinforcement Learning for Object Manipulation from Pixels Dan Haramati Tal Daniel Aviv Tamar LM&Ro OffRL OCL 45 11 0 01 Apr 2024
Learning Visual Quadrupedal Loco-Manipulation from Demonstrations Zhengmao He Kun Lei Yanjie Ze Koushil Sreenath Zhongyu Li Huazhe Xu 71 14 0 29 Mar 2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion Boyuan Liang Lingfeng Sun Xinghao Zhu Bike Zhang Ziyin Xiong Yixiao Wang Chenran Li Koushil Sreenath Masayoshi Tomizuka 79 3 0 29 Mar 2024
OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion Xinyu Zhan Lixin Yang Yifei Zhao Kangrui Mao Hanlin Xu Zenan Lin Kailin Li Cewu Lu 38 20 0 28 Mar 2024
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane Pierre-Alexandre Leziart T. Flayols O. Stasse Philippe Souères Nicolas Mansard 42 8 0 27 Mar 2024
OVER-NAV: Elevating Iterative Vision-and-Language Navigation with Open-Vocabulary Detection and StructurEd Representation Ganlong Zhao Guanbin Li Weikai Chen Yizhou Yu 37 4 0 26 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu Koushil Sreenath 41 14 0 26 Mar 2024
Visual Whole-Body Control for Legged Loco-Manipulation Minghuan Liu Zixuan Chen Xuxin Cheng Yandong Ji Ri-Zhao Qiu Ruihan Yang Xiaolong Wang 53 46 0 25 Mar 2024
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation Abdulaziz Shamsah Krishanu Agarwal Shreyas Kousik Ye Zhao 40 2 0 25 Mar 2024
MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment Ziyan Xiong Bo Chen Shiyu Huang Weijuan Tu Zhaofeng He Yang Gao 40 4 0 24 Mar 2024
Learning Quadruped Locomotion Using Differentiable Simulation Yunlong Song Sangbae Kim Davide Scaramuzza 40 11 0 21 Mar 2024
Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement Yichen Cai Jianfeng Gao Christoph Pohl Tamim Asfour 40 4 0 20 Mar 2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics Qiaojun Yu Ce Hao Junbo Wang Wenhai Liu Liu Liu Yao Mu Yang You Hengxu Yan Cewu Lu 44 5 0 20 Mar 2024
GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot Wenxuan Song Han Zhao Pengxiang Ding Can Cui Shangke Lyu Yaning Fan Donglin Wang OffRL 35 11 0 20 Mar 2024