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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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DefGraspSim: Simulation-based grasping of 3D deformable objects


Jul 12, 2021
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

* 11 pages, 19 figures. For associated website and code repository, see https://sites.google.com/nvidia.com/defgraspsim and https://github.com/NVlabs/deformable_object_grasping. Published in DO-Sim: Workshop on Deformable Object Simulation in Robotics at Robotics: Science and Systems (RSS) 2021 

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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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gradSim: Differentiable simulation for system identification and visuomotor control


Apr 06, 2021
Krishna Murthy Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jerome Parent-Levesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Derek Nowrouzezahrai, Sanja Fidler

* ICLR 2021. Project page (and a dynamic web version of the article): https://gradsim.github.io 

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Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections


Mar 31, 2021
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox

* To be published in Proc. IEEE International Conference on Robotics and Automation (ICRA) 

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Non-Smooth Newton Methods for Deformable Multi-Body Dynamics


Jul 10, 2019
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Viktor Makoviychuk

* 20 pages, ACM Transactions on Graphics 

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A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes


Apr 05, 2019
Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas Onal, Jie Fu

* Paper accepted on ICRA 2019. Supplemental video https://youtu.be/wUAGTeKtKsc 

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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience


Mar 05, 2019
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox


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GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning


Oct 24, 2018
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox

* Accepted and to appear at the Conference on Robot Learning (CoRL) 2018 

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