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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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Factory: Fast Contact for Robotic Assembly


May 07, 2022
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox

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* Accepted to Robotics: Science and Systems (RSS) 2022 

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Accelerated Policy Learning with Parallel Differentiable Simulation


Apr 14, 2022
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin

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* International Conference on Learning Representations 

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DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects


Mar 21, 2022
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

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* For associated web page, see \url{https://sites.google.com/nvidia.com/defgraspsim}. To be published in the IEEE Robotics and Automation Letters (RA-L) special issue on Robotic Handling of Deformable Objects, 2022. arXiv admin note: substantial text overlap with arXiv:2107.05778 

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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

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* Extended version of our RSS 2021 paper arXiv:2105.12244 

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Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations


Dec 09, 2021
Henry M. Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox

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* 9 pages, 4 figures, 1 table. NeurIPS 2021 Workshop on Robot Learning: Self-Supervised and Lifelong Learning, Virtual, Virtual 

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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

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* 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

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* Accepted at Robotics: Science and Systems 2021 

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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

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

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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics


Nov 05, 2020
Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos

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* 25 pages, 35 figures, The Conference on Robot Learning (CoRL) 2020 

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