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06/13/2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Multi-finger grasping relies on high quality training data, which is har...
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08/25/2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
The study of hand-object interaction requires generating viable grasp po...
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05/07/2022
Factory: Fast Contact for Robotic Assembly
Robotic assembly is one of the oldest and most challenging applications ...
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04/14/2022
Accelerated Policy Learning with Parallel Differentiable Simulation
Deep reinforcement learning can generate complex control policies, but r...
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03/21/2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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03/19/2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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08/24/2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Isaac Gym offers a high performance learning platform to train policies ...
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07/12/2021
DefGraspSim: Simulation-based grasping of 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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05/25/2021
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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03/31/2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Tactile sensing is critical for robotic grasping and manipulation of obj...
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07/10/2019
Non-Smooth Newton Methods for Deformable Multi-Body Dynamics
We present a framework for the simulation of rigid and deformable bodies...
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06/12/2019
VIPER: Volume Invariant Position-based Elastic Rods
We extend the formulation of position-based rods to include elastic volu...
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04/05/2019
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
In this work we present a framework that is capable of accurately repres...
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10/12/2018
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning
Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibit...
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10/12/2018
