Iretiayo Akinola  

 



  ![](/sites/default/files/person/Iretiayo.Akinola.JPG)

  

   Main Field of Interest

[Robotics](/index.php/research-area/robotics)

 

  

 

 

 



 ### Publications

 

### 2025 

[The Reality Gap in Robotics: Challenges, Solutions, and Best Practices](/index.php/publication/2025-10_reality-gap-robotics-challenges-solutions-and-best-practices)

Elie Aljalbout, Jiaxu Xing, Angel Romero, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), [Caelan Garrett](/index.php/person/caelan-garrett), Eric Heiden, Abhishek Gupta, [Tucker Hermans](/index.php/person/tucker-hermans), [Yashraj Narang](/index.php/person/yashraj-narang), Dieter Fox, Davide Scaramuzza, [Fabio Ramos](/index.php/person/fabio-ramos)



[Annual Review of Control, Robotics, and Autonomous Systems 2026](https://arxiv.org/abs/2510.20808)









[VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](/publication/2025-09_vt-refine-learning-bimanual-assembly-visuo-tactile-feedback-simulation-fine)

Binghao Huang, [Jie Xu](/person/jie-xu), [Iretiayo Akinola](/person/iretiayo-akinola), [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Rowland O'Flaherty](/person/rowland-oflaherty), Dieter Fox, Xiaolong Wang, Arsalan Mousavian, [Yu-Wei Chao](/person/yu-wei-chao), Yunzhu Li



[Conference on Robot Learning (CoRL) 2025](https://www.corl.org)









[Neural Robot Dynamics](/publication/2025-09_neural-robot-dynamics)

[Jie Xu](/person/jie-xu), Eric Heiden, [Iretiayo Akinola](/person/iretiayo-akinola), Dieter Fox, Miles Macklin, [Yashraj Narang](/person/yashraj-narang)



[Conference on Robot Learning (CoRL) 2025](https://www.corl.org/)









[TacSL: A Library for Visuotactile Sensor Simulation and Learning](/publication/2025-01_tacsl-library-visuotactile-sensor-simulation-and-learning)

[Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), Jan Carius, Dieter Fox, [Yashraj Narang](/person/yashraj-narang)



[IEEE Transactions on Robotics (T-RO)](https://www.ieee-ras.org/publications/t-ro)









### 2024 

[AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries](/publication/2024-07_automate-specialist-and-generalist-assembly-policies-over-diverse-geometries)

Bingjie Tang, [Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), [Bowen Wen](/person/bowen-wen), Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, [Fabio Ramos](/person/fabio-ramos), [Yashraj Narang](/person/yashraj-narang)



[Robotics: Science and Systems (RSS) 2024](https://roboticsconference.org/2024/)









[Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following](/publication/2024-07_signatures-meet-dynamic-programming-generalizing-bellman-equations-trajectory)

Motoya Ohnishi, [Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), [Ajay Mandlekar](/person/ajay-mandlekar), [Fabio Ramos](/person/fabio-ramos)



[6th Annual Learning for Dynamics & Control Conference (L4DC) 2024](https://l4dc.web.ox.ac.uk/home)









### 2023 

[Global and Reactive Motion Generation with Geometric Fabric Command Sequences](/publication/2023-05_global-and-reactive-motion-generation-geometric-fabric-command-sequences)

Weiming Zhi, [Iretiayo Akinola](/person/iretiayo-akinola), Karl Van Wyk, Nathan Ratliff, [Fabio Ramos](/person/fabio-ramos)



[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/)









[IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality](/index.php/publication/2023-05_industreal-transferring-contact-rich-assembly-tasks-simulation-reality)

Bingjie Tang, Michael A. Lin, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), Ankur Handa, Gaurav S. Sukhatme, [Fabio Ramos](/index.php/person/fabio-ramos), Dieter Fox, [Yashraj Narang](/index.php/person/yashraj-narang)



[Paper](https://arxiv.org/abs/2305.17110)









### 2022 

[Factory: Fast Contact for Robotic Assembly](/publication/2022-05_factory-fast-contact-robotic-assembly)

[Yashraj Narang](/person/yashraj-narang), Kier Storey, [Iretiayo Akinola](/person/iretiayo-akinola), Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox













[Model Predictive Control for Fluid Human-to-Robot Handovers](/index.php/publication/2022-04_model-predictive-control-fluid-human-robot-handovers)

[Wei Yang](/index.php/person/wei-yang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Chris Paxton, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Maya Cakmak, Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org/)