IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

26 May 2023

Papers citing "IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality"

39 / 39 papers shown

Title
EasyInsert: A Data-Efficient and Generalizable Insertion Policy Guanghe Li Junming Zhao Shengjie Wang Yang Gao 158 0 0 22 May 2025
FlashBack: Consistency Model-Accelerated Shared Autonomy Luzhe Sun Jingtian Ji Xiangshan Tan Matthew R. Walter 225 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 99 1 0 07 Mar 2025
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation Yufei Wang Ziyu Wang Mino Nakura Pratik Bhowal Chia-Liang Kuo Yi-Ting Chen Zackory M. Erickson David Held 119 0 0 04 Mar 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 68 1 0 10 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 137 0 0 16 Dec 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 117 3 0 29 Oct 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 91 8 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 88 10 0 08 Aug 2024
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality Ankur Handa Arthur Allshire Viktor Makoviychuk Aleksei Petrenko Ritvik Singh ... Balakumar Sundaralingam Yashraj S. Narang Jean-Francois Lafleche Dieter Fox Gavriel State 77 155 0 25 Oct 2022
Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact Yunuo Chen Minchen Li Wenlong Lu Chuyuan Fu Chenfanfu Jiang 49 4 0 30 Sep 2022
InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory Input Oren Spector Vladimir Tchuiev Dotan Di Castro 70 24 0 02 Mar 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 61 93 0 30 Jan 2022
Affine Body Dynamics: Fast, Stable & Intersection-free Simulation of Stiff Materials L. Lan D. Kaufman Minchen Li Chenfanfu Jiang Yin Yang AI4CE 62 39 0 25 Jan 2022
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks Yongyu Wang Shiyu Jin Changhao Wang Xinghao Zhu Masayoshi Tomizuka 118 42 0 25 Oct 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 240 576 0 24 Sep 2021
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors Zilin Si Wenzhen Yuan 44 97 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 165 1,072 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 87 72 0 22 Aug 2021
InsertionNet -- A Scalable Solution for Insertion Oren Spector Dotan Di Castro 54 52 0 29 Apr 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 114 63 0 21 Mar 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 54 139 0 15 Dec 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 125 1,170 0 21 Oct 2020
A Learning Approach to Robot-Agnostic Force-Guided High Precision Assembly Jieliang Luo Hui Li 46 18 0 15 Oct 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 59 162 0 24 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 68 50 0 18 Aug 2020
Dynamic Experience Replay Jieliang Luo Hui Li 178 24 0 04 Mar 2020
Learning to Scaffold the Development of Robotic Manipulation Skills Lin Shao Toki Migimatsu Jeannette Bohg 69 30 0 03 Nov 2019
Solving Rubik's Cube with a Robot Hand OpenAI Ilge Akkaya Marcin Andrychowicz Maciek Chociej Ma-teusz Litwin ... Peter Welinder Lilian Weng Qiming Yuan Wojciech Zaremba Lei Zhang ODL 113 1,227 0 16 Oct 2019
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks Michelle A. Lee Yuke Zhu Peter Zachares Matthew Tan K. Srinivasan Silvio Savarese Fei-Fei Li Animesh Garg Jeannette Bohg SSL 59 211 0 28 Jul 2019
Assessing Transferability from Simulation to Reality for Reinforcement Learning Fabio Muratore Michael Gienger Jan Peters 57 61 0 10 Jul 2019
Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly Jianlan Luo Eugen Solowjow Chengtao Wen J. A. Ojea A. Agogino Aviv Tamar Pieter Abbeel 70 174 0 04 Mar 2019
Residual Reinforcement Learning for Robot Control T. Johannink Shikhar Bahl Ashvin Nair Jianlan Luo Avinash Kumar M. Loskyll J. A. Ojea Eugen Solowjow Sergey Levine OffRL 72 417 0 07 Dec 2018
A Learning Framework for High Precision Industrial Assembly Yongxiang Fan Jieliang Luo Masayoshi Tomizuka OffRL 69 49 0 23 Sep 2018
Learning Dexterous In-Hand Manipulation OpenAI OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafal Jozefowicz ... Szymon Sidor Joshua Tobin Peter Welinder Lilian Weng Wojciech Zaremba 139 1,878 0 01 Aug 2018
Learning Robotic Assembly from CAD G. Thomas Melissa Chien Aviv Tamar J. A. Ojea Pieter Abbeel 60 151 0 20 Mar 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 102 1,363 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 481 19,019 0 20 Jul 2017
Mask R-CNN Kaiming He Georgia Gkioxari Piotr Dollár Ross B. Girshick ObjD 350 27,181 0 20 Mar 2017