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Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

Aug 25, 2021
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State

* tech report on isaac-gym 

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Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

Aug 22, 2021
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

* 13 pages, 11 figures 

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DexYCB: A Benchmark for Capturing Hand Grasping of Objects

Apr 09, 2021
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox

* Accepted to CVPR 2021 

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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop

Dec 07, 2020
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

* Summary of the "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" held in conjunction with "Robotics: Science and System 2020". Website: 

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A User's Guide to Calibrating Robotics Simulators

Nov 17, 2020
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

* Accepted at Conference on Robot Learning 2020 

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Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control

Jun 04, 2020
Ian Abraham, Ankur Handa, Nathan Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox

* IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 ) 

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In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation

Mar 07, 2020
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox

* Accepted to the International Conference on Robotics and Automation (ICRA) 2020 

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Information Theoretic Model Predictive Q-Learning

Dec 31, 2019
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots

* 13 pages 

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DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Oct 14, 2019
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

* 17 pages, first version of DexPilot 

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Learning Latent Space Dynamics for Tactile Servoing

Apr 15, 2019
Giovanni Sutanto, Nathan Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox

* Accepted to be published at the International Conference on Robotics and Automation (ICRA) 2019. The final version for publication at ICRA 2019 is 7 pages (i.e. 6 pages of technical content (including text, figures, tables, acknowledgement, etc.) and 1 page of the Bibliography/References), while this arXiv version is 8 pages (added Appendix and some extra details) 

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ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact

Apr 09, 2019
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox

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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience

Mar 05, 2019
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox

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Robust Learning of Tactile Force Estimation through Robot Interaction

Mar 05, 2019
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox

* accepted to ICRA 2019 (camera ready version) 

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GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning

Oct 24, 2018
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox

* Accepted and to appear at the Conference on Robot Learning (CoRL) 2018 

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Domain Randomization and Generative Models for Robotic Grasping

Apr 03, 2018
Joshua Tobin, Lukas Biewald, Rocky Duan, Marcin Andrychowicz, Ankur Handa, Vikash Kumar, Bob McGrew, Jonas Schneider, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

* 8 pages, 11 figures. Submitted to 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) 

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Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery

May 17, 2017
Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang

* A two-page short report to be presented at the Hamlyn Symposium on Medical Robotics 2017. An extension of this work is on progress 

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SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth

Jan 30, 2017
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison

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SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks

Sep 28, 2016
John McCormac, Ankur Handa, Andrew Davison, Stefan Leutenegger

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Spatio-temporal video autoencoder with differentiable memory

Sep 01, 2016
Viorica Patraucean, Ankur Handa, Roberto Cipolla

* The experiments section has been extended and a direct application to weakly-supervised video segmentation through label propagation has been included 

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gvnn: Neural Network Library for Geometric Computer Vision

Aug 12, 2016
Ankur Handa, Michael Bloesch, Viorica Patraucean, Simon Stent, John McCormac, Andrew Davison

* Submitted to ECCV Workshop on Deep Geometry 

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HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor

Apr 04, 2016
Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway

* 14 pages 

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SceneNet: Understanding Real World Indoor Scenes With Synthetic Data

Nov 26, 2015
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla

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SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling

May 27, 2015
Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla

* This version was first submitted to CVPR' 15 on November 14, 2014 with paper Id 1468. A similar architecture was proposed more recently on May 17, 2015, see 

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SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes

May 01, 2015
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla

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