Title
EasyInsert: A Data-Efficient and Generalizable Insertion Policy Guanghe Li Junming Zhao Shengjie Wang Yang Gao 169 0 0 22 May 2025
MatchMaker: Automated Asset Generation for Robotic Assembly Yian Wang Bingjie Tang Chuang Gan Dieter Fox Kaichun Mo Yashraj S. Narang Iretiayo Akinola 115 1 0 07 Mar 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 84 1 0 10 Jan 2025
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 124 4 0 29 Oct 2024
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments Jumman Hossain Emon Dey Snehalraj Chugh Masud Ahmed MS Anwar ... Adrienne Raglin Carl E. Busart T. Gregory Anuradha Ravi Nirmalya Roy 64 0 0 22 Oct 2024
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks Ahmed Shokry Walid Gomaa Tobias Zaenker Murad Dawood Shady A. Maged Mohammed I. Awad Maren Bennewitz Maren Bennewitz OffRL 63 0 0 24 Sep 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 98 10 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 90 11 0 08 Aug 2024
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin R. Bajcsy Tucker Hermans Dieter Fox 118 26 0 21 Mar 2022
RoboAssembly: Learning Generalizable Furniture Assembly Policy in a Novel Multi-robot Contact-rich Simulation Environment Mingxin Yu Lin Shao Zhehuan Chen Tianhao Wu Qingnan Fan Kaichun Mo Hao Dong 78 18 0 19 Dec 2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations Henry M. Clever Ankur Handa H. Mazhar Kevin Parker Omer Shapira Qian Wan Yashraj S. Narang Iretiayo Akinola Maya Cakmak Dieter Fox 68 18 0 09 Dec 2021
Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization Youngwoon Lee Joseph J. Lim Anima Anandkumar Yuke Zhu OffRL 74 41 0 15 Nov 2021
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 114 257 0 04 Nov 2021
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks Yongyu Wang Shiyu Jin Changhao Wang Xinghao Zhu Masayoshi Tomizuka 127 42 0 25 Oct 2021
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation J. Wong Viktor Makoviychuk Anima Anandkumar Yuke Zhu 82 13 0 02 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 251 580 0 24 Sep 2021
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors Zilin Si Wenzhen Yuan 80 99 0 09 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 180 1,087 0 24 Aug 2021
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 95 72 0 22 Aug 2021
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks Chengshu Li Fei Xia Roberto Martín-Martín Michael Lingelbach S. Srivastava ... Karen Liu H. Gweon Jiajun Wu Li Fei-Fei Silvio Savarese LM&Ro 226 236 0 06 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 48 23 0 12 Jul 2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat Andrew Szot Alexander Clegg Eric Undersander Erik Wijmans Yili Zhao ... Z. Kira V. Koltun Jitendra Malik Manolis Savva Dhruv Batra LM&Ro 109 526 0 28 Jun 2021
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units Shiyu Jin Diego Romeres Arvind Ragunathan Devesh K. Jha Masayoshi Tomizuka 78 25 0 02 Jun 2021
FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding Huy Ha Shuran Song AI4CE 83 158 0 08 May 2021
ManipulaTHOR: A Framework for Visual Object Manipulation Kiana Ehsani Winson Han Alvaro Herrasti Eli VanderBilt Luca Weihs Eric Kolve Aniruddha Kembhavi Roozbeh Mottaghi LM&Ro 252 130 0 22 Apr 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 60 0 31 Mar 2021
Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study Jianlan Luo Oleg O. Sushkov Rugile Pevceviciute Wenzhao Lian Chang Su Mel Vecerík Ning Ye S. Schaal Jonathan Scholz OffRL 127 64 0 21 Mar 2021
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks Wenzhao Lian Tim Kelch D. Holz Adam Norton S. Schaal 60 24 0 08 Mar 2021
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks Peter Zachares Michelle A. Lee Wenzhao Lian Jeannette Bohg 76 19 0 07 Jan 2021
TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors Shaoxiong Wang Mike Lambeta Po-wei Chou Roberto Calandra 67 142 0 15 Dec 2020
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering Maria Bauzá Eric Valls Bryan Lim Theo Sechopoulos Alberto Rodriguez 123 78 0 09 Dec 2020
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation Clemens Eppner Arsalan Mousavian Dieter Fox 102 210 0 18 Nov 2020
Learning Dense Rewards for Contact-Rich Manipulation Tasks Zheng Wu Wenzhao Lian Vaibhav Unhelkar Masayoshi Tomizuka S. Schaal 128 37 0 17 Nov 2020
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics Carolyn Matl Yashraj S. Narang Dieter Fox R. Bajcsy F. Ramos 99 20 0 05 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
Learning Sequences of Manipulation Primitives for Robotic Assembly N. Vuong H. Pham Quang Pham 71 26 0 02 Nov 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 145 1,176 0 21 Oct 2020
A Learning Approach to Robot-Agnostic Force-Guided High Precision Assembly Jieliang Luo Hui Li 66 18 0 15 Oct 2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion Xingye Da Zhaoming Xie David Hoeller Byron Boots Anima Anandkumar Yuke Zhu Buck Babich Animesh Garg 78 58 0 21 Sep 2020
Deep Reinforcement Learning for Contact-Rich Skills Using Compliant Movement Primitives Oren Spector M. Zacksenhouse 35 12 0 30 Aug 2020
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach C. C. Beltran-Hernandez Damien Petit I. Ramirez-Alpizar Kensuke Harada OffRL 84 163 0 24 Aug 2020
CosyPose: Consistent multi-view multi-object 6D pose estimation Yann Labbé Justin Carpentier Mathieu Aubry Josef Sivic 76 441 0 19 Aug 2020
Residual Learning from Demonstration: Adapting DMPs for Contact-rich Manipulation Todor Davchev K. Luck Michael G. Burke Franziska Meier S. Schaal S. Ramamoorthy 71 51 0 18 Aug 2020
Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks Gerrit Schoettler Ashvin Nair J. A. Ojea Sergey Levine Eugen Solowjow OffRL OnRL 61 87 0 29 Apr 2020
A Study on the Challenges of Using Robotics Simulators for Testing Afsoon Afzal Deborah S. Katz Claire Le Goues C. Timperley 40 38 0 15 Apr 2020
SAPIEN: A SimulAted Part-based Interactive ENvironment Fanbo Xiang Yuzhe Qin Kaichun Mo Yikuan Xia Hao Zhu ... He Wang Li Yi Angel X. Chang Leonidas Guibas Hao Su 285 507 0 19 Mar 2020
Inferring the Material Properties of Granular Media for Robotic Tasks Carolyn Matl Yashraj S. Narang R. Bajcsy Fabio Ramos Dieter Fox 82 40 0 18 Mar 2020
Dynamic Experience Replay Jieliang Luo Hui Li 202 24 0 04 Mar 2020
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks Youngwoon Lee E. Hu Zhengyu Yang Alexander Yin Joseph J. Lim 72 124 0 17 Nov 2019
Robots Assembling Machines: Learning from the World Robot Summit 2018 Assembly Challenge Felix von Drigalski Christian Schlette Martin Rudorfer N. Correll Joshua C. Triyonoputro Weiwei Wan Tokuo Tsuji Tetsuyou Watanabe 34 30 0 14 Nov 2019