Ankur Handa | DeepAI

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∙ 05/26/2023

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Robotic assembly is a longstanding challenge, requiring contact-rich int...

0 Bingjie Tang, et al. ∙

∙ 05/25/2023

Imitating Task and Motion Planning with Visuomotor Transformers

Imitation learning is a powerful tool for training robot manipulation po...

0 Murtaza Dalal, et al. ∙

∙ 05/20/2023

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training

In this work, we propose algorithms and methods that enable learning dex...

0 Aleksei Petrenko, et al. ∙

∙ 10/25/2022

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality

Recent work has demonstrated the ability of deep reinforcement learning ...

0 Ankur Handa, et al. ∙

∙ 05/07/2022

Factory: Fast Contact for Robotic Assembly

Robotic assembly is one of the oldest and most challenging applications ...

3 Yashraj Narang, et al. ∙

∙ 12/09/2021

Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations

Sharing autonomy between robots and human operators could facilitate dat...

0 Henry M. Clever, et al. ∙

∙ 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 ...

19 Viktor Makoviychuk, et al. ∙

∙ 08/22/2021

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

We present a system for learning a challenging dexterous manipulation ta...

3 Arthur Allshire, et al. ∙

∙ 04/09/2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of object...

5 Yu-Wei Chao, et al. ∙

∙ 12/07/2020

Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop

This report presents the debates, posters, and discussions of the Sim2Re...

4 Sebastian Höfer, et al. ∙

∙ 11/17/2020

A User's Guide to Calibrating Robotics Simulators

Simulators are a critical component of modern robotics research. Strateg...

5 Bhairav Mehta, et al. ∙

∙ 06/04/2020

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control

This work addresses the problem of robot interaction in complex environm...

0 Ian Abraham, et al. ∙

∙ 02/27/2020

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation

Tracking the pose of an object while it is being held and manipulated by...

0 Jacky Liang, et al. ∙

∙ 12/31/2019

Information Theoretic Model Predictive Q-Learning

Model-free Reinforcement Learning (RL) algorithms work well in sequentia...

29 Mohak Bhardwaj, et al. ∙

∙ 10/07/2019

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Teleoperation offers the possibility of imparting robotic systems with s...

20 Ankur Handa, et al. ∙

∙ 04/07/2019

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact

Grasping and manipulating objects is an important human skill. Since mos...

0 Samarth Brahmbhatt, et al. ∙

∙ 11/08/2018

Learning Latent Space Dynamics for Tactile Servoing

In order to achieve a dexterous robotic manipulation, we need to equip o...

0 Giovanni Sutanto, et al. ∙

∙ 10/15/2018

Robust Learning of Tactile Force Estimation through Robot Interaction

Current methods for estimating force from tactile sensor signals are eit...

0 Balakumar Sundaralingam, et al. ∙

∙ 10/12/2018

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning

Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibit...

0 Jacky Liang, et al. ∙

∙ 10/12/2018

Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience

We consider the problem of transferring policies to the real world by tr...

0 Yevgen Chebotar, et al. ∙

∙ 05/17/2017

Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery

Robotic surgery has become a powerful tool for performing minimally inva...

0 Menglong Ye, et al. ∙

∙ 12/15/2016

SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to ...

0 John McCormac, et al. ∙

∙ 09/16/2016

SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks

Ever more robust, accurate and detailed mapping using visual sensing has...

0 John McCormac, et al. ∙

∙ 07/25/2016

gvnn: Neural Network Library for Geometric Computer Vision

We introduce gvnn, a neural network library in Torch aimed towards bridg...

0 Ankur Handa, et al. ∙

∙ 04/04/2016

HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor

We describe a new method for comparing frame appearance in a frame-to-mo...

0 Shuda Li, et al. ∙

∙ 05/27/2015

SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling

We propose a novel deep architecture, SegNet, for semantic pixel wise im...

0 Vijay Badrinarayanan, et al. ∙

∙ 05/01/2015

SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes

We are interested in automatic scene understanding from geometric cues. ...

0 Ankur Handa, et al. ∙

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