3 citations · 5 across the 5 of their papers we have counts for
5 papers
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
NVIDIA, :, Mayank Mittal +104
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab c…
End-to-end RL Improves Dexterous Grasping Policies
Ritvik Singh, Karl Van Wyk, Pieter Abbeel +3
This work explores techniques to scale up image-based end-to-end learning for dexterous grasping with an arm + hand system. Unlike state-based RL, vision-based RL is much more memo…
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
Ritvik Singh, Arthur Allshire, Ankur Handa +2
One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or re…
Synthetica: Large Scale Synthetic Data for Robot Perception
Ritvik Singh, Jingzhou Liu, Karl Van Wyk +5
Vision-based object detectors are a crucial basis for robotics applications as they provide valuable information about object localisation in the environment. These need to ensure…