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ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments


Jan 10, 2023
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Pooria Poorsarvi Tehrani, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

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* Project website: https://isaac-orbit.github.io/ 

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Advanced Skills by Learning Locomotion and Local Navigation End-to-End


Sep 26, 2022
Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter

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* IROS 2022, Project website: https://sites.google.com/ leggedrobotics.com/end-to-end-loco-navigation 

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Neural Scene Representation for Locomotion on Structured Terrain


Jun 16, 2022
David Hoeller, Nikita Rudin, Christopher Choy, Animashree Anandkumar, Marco Hutter

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Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments


Mar 29, 2022
Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter

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* under review for IROS22 

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Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning


Sep 24, 2021
Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter

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* CoRL 2021 

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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

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* tech report on isaac-gym 

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Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation


Mar 18, 2021
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg

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Learning a State Representation and Navigation in Cluttered and Dynamic Environments


Mar 07, 2021
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter

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* IEEE Robotics and Automation Letters 2021 
* 8 pages, 8 figures, 2 tables 

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Joint Space Control via Deep Reinforcement Learning


Nov 12, 2020
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield

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* Submitted to ICRA 2021 

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