4 papers
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…
Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning
Neel Jawale, Byron Boots, Balakumar Sundaralingam +1
We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-wor…
Learned Slip-Detection-Severity Framework using Tactile Deformation Field Feedback for Robotic Manipulation
Neel Jawale, Navneet Kaur, Amy Santoso +2
Safely handling objects and avoiding slippage are fundamental challenges in robotic manipulation, yet traditional techniques often oversimplify the issue by treating slippage as a…
Dynamics Models in the Aggressive Off-Road Driving Regime
Tyler Han, Sidharth Talia, Rohan Panicker +3
Current developments in autonomous off-road driving are steadily increasing performance through higher speeds and more challenging, unstructured environments. However, this operati…