IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with
the Incremental Potential Contact Model

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IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model

2 November 2021

Michael Danielczuk

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Papers citing "IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model"

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Title
Few-shot Sim2Real Based on High Fidelity Rendering with Force Feedback Teleoperation Yanwen Zou Junda Huang Boyuan Liang Honghao Guo Zhengyang Liu Xin Ma Jianshu Zhou Masayoshi Tomizuka 118 1 0 03 Mar 2025
Affine Body Dynamics: Fast, Stable & Intersection-free Simulation of Stiff Materials L. Lan D. Kaufman Minchen Li Chenfanfu Jiang Yin Yang AI4CE 71 39 0 25 Jan 2022
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger Arthur Allshire Mayank Mittal Varun Lodaya Viktor Makoviychuk Denys Makoviichuk Felix Widmaier Manuel Wüthrich Stefan Bauer Ankur Handa Animesh Garg 102 72 0 22 Aug 2021
DefGraspSim: Simulation-based grasping of 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin Tucker Hermans Dieter Fox 56 23 0 12 Jul 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections Yashraj S. Narang Balakumar Sundaralingam Miles Macklin Arsalan Mousavian Dieter Fox 71 61 0 31 Mar 2021
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation Clemens Eppner Arsalan Mousavian Dieter Fox 105 210 0 18 Nov 2020
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps Jialiang Zhao Daniel M. Troniak Oliver Kroemer 65 15 0 04 Nov 2020
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set Clemens Eppner Arsalan Mousavian Dieter Fox 78 73 0 11 Dec 2019
Non-Smooth Newton Methods for Deformable Multi-Body Dynamics Miles Macklin Kenny Erleben Matthias Müller N. Chentanez S. Jeschke Viktor Makoviychuk 53 103 0 10 Jul 2019
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning Jacky Liang Viktor Makoviychuk Ankur Handa N. Chentanez Miles Macklin Dieter Fox AI4CE 80 183 0 12 Oct 2018
QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation Dmitry Kalashnikov A. Irpan P. Pastor Julian Ibarz Alexander Herzog ... Deirdre Quillen E. Holly Mrinal Kalakrishnan Vincent Vanhoucke Sergey Levine 141 1,472 0 27 Jun 2018
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning Andy Zeng Shuran Song Stefan Welker Johnny Lee Alberto Rodriguez Thomas Funkhouser SSL 99 570 0 27 Mar 2018
Deep Learning a Grasp Function for Grasping under Gripper Pose Uncertainty Edward Johns Stefan Leutenegger Andrew J. Davison OOD 72 259 0 07 Aug 2016
Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours Lerrel Pinto Abhinav Gupta SSL 108 1,152 0 23 Sep 2015
Deep Learning for Detecting Robotic Grasps Ian Lenz Honglak Lee Ashutosh Saxena 119 1,648 0 16 Jan 2013