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DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality


Oct 25, 2022
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

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* 28 pages 

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Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation


Oct 24, 2022
Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

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* Accepted by CoRL2022 

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DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations


Sep 28, 2022
Zoey Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

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Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior


Sep 21, 2021
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff

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CoDE: Collocation for Demonstration Encoding


May 07, 2021
Mandy Xie, Anqi Li, Karl Van Wyk, Frank Dellaert, Byron Boots, Nathan Ratliff

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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

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* Accepted to CVPR 2021 

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RMP2: A Structured Composable Policy Class for Robot Learning


Mar 10, 2021
Anqi Li, Ching-An Cheng, M. Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots

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Interpreting and Predicting Tactile Signals for the SynTouch BioTac


Jan 14, 2021
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

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* Submitted to International Journal of Robotics Research (IJRR) 

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion


Nov 11, 2020
Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan Ratliff

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Generalized Nonlinear and Finsler Geometry for Robotics


Nov 04, 2020
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Asif Muhammad Rana

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