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A Robot Cluster for Reproducible Research in Dexterous Manipulation


Sep 22, 2021
Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bernhard Schölkopf


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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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LASER: Learning a Latent Action Space for Efficient Reinforcement Learning


Mar 30, 2021
Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg

* Accepted as a conference paper at ICRA 2021. 7 pages, 8 figures 

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