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Reinforcement Learning in Factored Action Spaces using Tensor Decompositions


Oct 27, 2021
Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, Animashree Anandkumar

* 2nd Workshop on Quantum Tensor Networks in Machine Learning (NeurIPS 2021) 

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OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation


Oct 02, 2021
Josiah Wong, Viktor Makoviychuk, Anima Anandkumar, Yuke Zhu


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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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Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger


Aug 22, 2021
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

* 13 pages, 11 figures 

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Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning


May 31, 2021
Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, Animashree Anandkumar

* 38th International Conference on Machine Learning, PMLR 139, 2021 

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Is Independent Learning All You Need in the StarCraft Multi-Agent Challenge?


Nov 18, 2020
Christian Schroeder de Witt, Tarun Gupta, Denys Makoviichuk, Viktor Makoviychuk, Philip H. S. Torr, Mingfei Sun, Shimon Whiteson


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In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation


Mar 07, 2020
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox

* Accepted to the International Conference on Robotics and Automation (ICRA) 2020 

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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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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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