5 papers · 1 filter
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…
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero +9
Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driv…
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies
Liquan Wang, Jiangjie Bian, Eric Heiden +1
Robotic manipulation tasks involving cutting deformable objects remain challenging due to complex topological behaviors, difficulties in perceiving dense object states, and the lac…
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola +3
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising…
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Andrew Z. Li, Philip Huang +7
Planning for sequential robotics tasks often requires integrated symbolic and geometric reasoning. TAMP algorithms typically solve these problems by performing a tree search over h…