Publications

Our publications provide insight into some of our leading-edge research.

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2025

Isaac Lab: A GPU Accelerated Simulation Framework For Multi-Modal Robot Learning
Mayank Mittal, Kelly Guo, Gavriel State, Spencer Huang
World Simulation With Video Foundation Models for Physical AI
Ming-Yu Liu,
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li
Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration
Sirui Xu, Yu-Wei Chao, Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liang-Yan Gui, Wei Yang
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang
Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
Rachel Luo, Heng Yang, Michael Watson, Apoorva Sharma, Sushant Veer, Edward Schmerling, Marco Pavone
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee, Moo Jin Kim, Arhan Jain, Artur Kuramshin, Clemens Eppner, Cyrus Neary, Edward Hu, Fabio Ramos, Jonathan Tremblay, Kanav Arora, Kirsty Ellis, Luca Macesanu, Marcel Torne Villasevil, Matthew Leonard, Meedeum Cho, Ozgur Aslan, Shivin Dass, Jie Wang, William Reger, Xingfang Yuan, Xuning Yang, Abhishek Gupta, Dinesh Jayaraman, Glen Berseth, Kostas Daniilidis, Roberto Martin-Martin, Youngwoon Lee, Percy Liang, Chelsea Finn, Sergey Levine
Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills
Weikang Wan, Fabio Ramos, Xuning Yang, Caelan Garrett

2022

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox
Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles
Alec Farid, Sushant Veer, Boris Ivanovic, Karen Leung, Marco Pavone
DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles
Peter Karkus, Boris Ivanovic, Shie Mannor, Marco Pavone
Robust Trajectory Prediction against Adversarial Attacks
Yulong Cao, Danfei Xu, Xinshuo Weng, Z. Morely Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone
Selected for Oral Presentation
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, et al.