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Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation


Sep 18, 2021
Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav S. Sukhatme

* Extended version. Submitted to ICRA 2022 

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DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting


May 25, 2021
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos

* Accepted at Robotics: Science and Systems 2021 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

* For team website, see https://costar.jpl.nasa.gov/ 

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NeuralSim: Augmenting Differentiable Simulators with Neural Networks


Nov 09, 2020
Eric Heiden, David Millard, Erwin Coumans, Yizhou Sheng, Gaurav S. Sukhatme

* Submitted to ICRA 2021 

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Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap


Jul 12, 2020
Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme


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Confidence-rich grid mapping


Jun 29, 2020
Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme

* The International Journal of Robotics Research, 38(12-13), 1352-1374 (2019) 
* Published at International Journal of Robotics Research (IJRR) 2019 (https://journals.sagepub.com/doi/10.1177/0278364919839762

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Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots


Mar 07, 2020
Eric Heiden, Luigi Palmieri, Kai O. Arras, Gaurav S. Sukhatme, Sven Koenig

* Extended version of manuscript under review 

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LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments


Mar 05, 2020
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally Wood, Luca Carlone, Ali-akbar Agha-mohammadi


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Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics


Jan 22, 2020
David Millard, Eric Heiden, Shubham Agrawal, Gaurav S. Sukhatme

* arXiv admin note: substantial text overlap with arXiv:1905.10706 

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Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking


Dec 03, 2019
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme

* Submitted to ICRA 2020 

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Interactive Differentiable Simulation


May 26, 2019
Eric Heiden, David Millard, Hejia Zhang, Gaurav S. Sukhatme


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Auto-conditioned Recurrent Mixture Density Networks for Learning Generalizable Robot Skills


Mar 20, 2019
Hejia Zhang, Eric Heiden, Stefanos Nikolaidis, Joseph J. Lim, Gaurav S. Sukhatme

* Submitted to IROS 2019 

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Scaling simulation-to-real transfer by learning composable robot skills


Nov 13, 2018
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Presented at ISER 2018. See https://www.youtube.com/watch?v=Syr2RQTHqTs for supplemental video 

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Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations


Nov 13, 2018
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Submitted to ICRA 2019. See https://youtu.be/te4JWe7LPKw for supplemental video 

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Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation


Oct 02, 2018
Hejia Zhang, Eric Heiden, Ryan Julian, Zhangpeng He, Joseph J. Lim, Gaurav S. Sukhatme

* Submitted to ICRA 2019 

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