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Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands


Aug 26, 2022
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven Dickinson, Animesh Garg


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Inferring Articulated Rigid Body Dynamics from RGBD Video


Mar 20, 2022
Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme

* Submitted to IROS 2022 

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DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting


Mar 19, 2022
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos

* Extended version of our RSS 2021 paper arXiv:2105.12244 

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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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