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
LaserHuman: Language-guided Scene-aware Human Motion Generation in Free Environment Peishan Cong Ziyi Wang Zhiyang Dou Yiming Ren Wei Yin Kai-Sheng Cheng Yujing Sun Xiaoxiao Long Xinge Zhu Yuexin Ma VGen 58 17 0 20 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Jun Yamada Shaohong Zhong Jack Collins Ingmar Posner 53 4 0 19 Mar 2024
AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents Jieming Cui Tengyu Liu Nian Liu Yaodong Yang Yixin Zhu Siyuan Huang 64 21 0 19 Mar 2024
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy Tianhao Wu Yunchong Gan Mingdong Wu Jingbo Cheng Yaodong Yang Yixin Zhu Hao Dong 56 0 0 19 Mar 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 34 0 0 18 Mar 2024
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects Yoonyoung Cho Junhyek Han Yoontae Cho Beomjoon Kim 42 8 0 16 Mar 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 60 37 0 15 Mar 2024
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness Aidan Curtis George Matheos Nishad Gothoskar Vikash K. Mansinghka Joshua Tenenbaum Tomás Lozano-Pérez L. Kaelbling 40 11 0 15 Mar 2024
Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects Malte Mosbach Sven Behnke 37 7 0 15 Mar 2024
Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands Pragna Mannam Xingyu Liu Ding Zhao Jean Oh N. S. Pollard 48 0 0 15 Mar 2024
Scaling Instructable Agents Across Many Simulated Worlds Sima Team Maria Abi Raad Arun Ahuja Catarina Barros F. Besse ... Daan Wierstra Duncan Williams Nathaniel Wong Sarah York Nick Young LM&Ro 115 39 0 13 Mar 2024
DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation Zilin Si Gu Zhang Qingwei Ben Branden Romero Zhou Xian Chao Liu Chuang Gan 43 18 0 13 Mar 2024
Sim-to-Real gap in RL: Use Case with TIAGo and Isaac Sim/Gym Jaume Albardaner Alberto San Miguel Néstor García Magí Dalmau-Moreno 18 1 0 11 Mar 2024
Real-Time Simulated Avatar from Head-Mounted Sensors Zhengyi Luo Jinkun Cao Rawal Khirodkar Alexander W. Winkler Jing Huang Kris Kitani Weipeng Xu 38 7 0 11 Mar 2024
Toward Understanding Key Estimation in Learning Robust Humanoid Locomotion Zhicheng Wang Wandi Wei Ruiqi Yu Jun Wu Qiuguo Zhu 47 5 0 09 Mar 2024
Symmetry Considerations for Learning Task Symmetric Robot Policies Mayank Mittal Nikita Rudin Victor Klemm Arthur Allshire Marco Hutter 49 11 0 07 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 45 80 0 06 Mar 2024
HMD-Poser: On-Device Real-time Human Motion Tracking from Scalable Sparse Observations Peng Dai Yang Zhang Tao Liu Zhen Fan Tianyuan Du Zhuo Su Xiaozheng Zheng Zeming Li 3DH 36 9 0 06 Mar 2024
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies Alexander Spiridonov Fabio Buehler Moriz Berclaz Valerio Schelbert Jorit Geurts ... Wim Zimmermann Philip Arm Nikita Rudin H. Kolvenbach Marco Hutter 34 4 0 05 Mar 2024
UniDoorManip: Learning Universal Door Manipulation Policy Over Large-scale and Diverse Door Manipulation Environments Yu Li Xiaojie Zhang Ruihai Wu Zilong Zhang Yiran Geng Hao Dong Zhaofeng He 48 8 0 05 Mar 2024
Twisting Lids Off with Two Hands Toru Lin Zhao-Heng Yin Haozhi Qi Pieter Abbeel Jitendra Malik 51 25 0 04 Mar 2024
Barrier Functions Inspired Reward Shaping for Reinforcement Learning Nilaksh Nilaksh Abhishek Ranjan Shreenabh Agrawal Aayush Jain Pushpak Jagtap Shishir Kolathaya OffRL 49 4 0 03 Mar 2024
Learning Quadrupedal Locomotion with Impaired Joints Using Random Joint Masking Mincheol Kim Ukcheol Shin Jung-Yup Kim 33 0 0 01 Mar 2024
Learning to walk in confined spaces using 3D representation Takahiro Miki Joonho Lee Lorenz Wellhausen Marco Hutter 42 19 0 29 Feb 2024
Humanoid Locomotion as Next Token Prediction Ilija Radosavovic Bike Zhang Baifeng Shi Jathushan Rajasegaran Sarthak Kamat Trevor Darrell Koushil Sreenath Jitendra Malik LM&Ro 30 60 0 29 Feb 2024
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng Yandong Ji Junming Chen Ruihan Yang Ge Yang Xiaolong Wang 58 90 0 26 Feb 2024
Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion Kaiqi Chen Eugene Lim Kelvin Lin Yiyang Chen Harold Soh DiffM 35 10 0 25 Feb 2024
Advancing Monocular Video-Based Gait Analysis Using Motion Imitation with Physics-Based Simulation Nikolaos Smyrnakis T. Karakostas R. J. Cotton 45 2 0 20 Feb 2024
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg Philip Arm Mayank Mittal H. Kolvenbach Marco Hutter 29 27 0 16 Feb 2024
Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots Tai-Wei Hou Jiaxin Tu Xiaofei Gao Zhiyan Dong Peng Zhai Lihua Zhang 31 3 0 14 Feb 2024
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation Wilbert Pumacay Ishika Singh Jiafei Duan Ranjay Krishna Jesse Thomason Dieter Fox 29 40 0 13 Feb 2024
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots Simon Chamorro Victor Klemm M. I. Valls Christopher Pal Roland Siegwart 51 5 0 09 Feb 2024
FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object Hanzhi Chen Binbin Xu Stefan Leutenegger 29 4 0 08 Feb 2024
Tactile-based Object Retrieval From Granular Media Jingxi Xu Yinsen Jia Dongxiao Yang Patrick Meng Xinyue Zhu Zihan Guo Shuran Song M. Ciocarlie 32 5 0 07 Feb 2024
The Essential Role of Causality in Foundation World Models for Embodied AI Tarun Gupta Wenbo Gong Chao Ma Nick Pawlowski Agrin Hilmkil ... Jianfeng Gao Stefan Bauer Danica Kragic Bernhard Schölkopf Cheng Zhang 41 15 0 06 Feb 2024
V-IRL: Grounding Virtual Intelligence in Real Life Jihan Yang Runyu Ding Ellis L Brown Xiaojuan Qi Saining Xie LM&Ro 59 19 0 05 Feb 2024
DexDiffuser: Generating Dexterous Grasps with Diffusion Models Zehang Weng Haofei Lu Danica Kragic Jens Lundell 50 31 0 05 Feb 2024
Gazebo Plants: Simulating Plant-Robot Interaction with Cosserat Rods Junchen Deng Samhita Marri Jonathan Klein Wojciech Palubicki Soren Pirk Girish Chowdhary D. L. Michels 14 2 0 04 Feb 2024
Efficient Physically-based Simulation of Soft Bodies in Embodied Environment for Surgical Robot Zhenya Yang Yonghao Long Kai-xiang Chen Wang Wei Qi Dou AI4CE 26 3 0 02 Feb 2024
SLIM: Skill Learning with Multiple Critics David Emukpere Bingbing Wu Julien Perez J. Renders 28 1 0 01 Feb 2024
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He Chong Zhang Wenli Xiao Guanqi He Changliu Liu Guanya Shi 47 59 0 31 Jan 2024
Encoding Temporal Statistical-space Priors via Augmented Representation Insu Choi Woosung Koh Gimin Kang Yuntae Jang Woo Chang Kim AI4TS 42 0 0 30 Jan 2024
$R$\times$R: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training$ R $\times$ R: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training Gagan Khandate Tristan L. Saidi Siqi Shang Eric T. Chang Yang Liu Seth Matthew Dennis Johnson Adams M. Ciocarlie 57 4 0 27 Jan 2024
DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity Kang-Won Lee Yuzhe Qin Xiaolong Wang Soo-Chul Lim 24 3 0 23 Jan 2024
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots Pengxiang Ding Han Zhao Wenxuan Song Zhitao Wang Zhenyu Wei Shangke Lyu Ningxi Yang Donglin Wang 34 19 0 22 Dec 2023
Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Zhuang Lei Jingdong Zhao 51 2 0 21 Dec 2023
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation Sudharshan Suresh Haozhi Qi Tingfan Wu Taosha Fan Luis Villaseñor-Pineda ... Mrinal Kalakrishnan Roberto Calandra Michael Kaess Joseph Ortiz Mustafa Mukadam 39 29 0 20 Dec 2023
XLand-MiniGrid: Scalable Meta-Reinforcement Learning Environments in JAX Alexander Nikulin Vladislav Kurenkov Ilya Zisman Artem Agarkov Viacheslav Sinii Sergey Kolesnikov 35 26 0 19 Dec 2023
Human-Machine Teaming for UAVs: An Experimentation Platform Laila El Moujtahid S. Gottipati Clodéric Mars Matthew E. Taylor 26 1 0 18 Dec 2023
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 70 26 0 18 Dec 2023