55 citations · 58 across the 2 of their papers we have counts for
4 papers
Factory: Fast Contact for Robotic Assembly
Yashraj Narang, Kier Storey, Iretiayo Akinola +9
Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated…
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo +8
Isaac Gym offers a high performance learning platform to train policies for wide variety of robotics tasks directly on GPU. Both physics simulation and the neural network policy tr…
Self-Supervised Real-to-Sim Scene Generation
Aayush Prakash, Shoubhik Debnath, Jean-Francois Lafleche +4
Synthetic data is emerging as a promising solution to the scalability issue of supervised deep learning, especially when real data are difficult to acquire or hard to annotate. Syn…
Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data
Aayush Prakash, Shaad Boochoon, Mark Brophy +5
We present structured domain randomization (SDR), a variant of domain randomization (DR) that takes into account the structure and context of the scene. In contrast to DR, which pl…