Publications

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

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2025

Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Garrett, Danfei Xu
ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning
Chi-Pin Huang, Yueh-Hua Wu, Min-Hung Chen, Frank Wang, Fred Yang
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero, Iretiayo Akinola, Caelan Garrett, Eric Heiden, Abhishek Gupta, Tucker Hermans, Yashraj Narang, Dieter Fox, Davide Scaramuzza, Fabio Ramos
ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation
Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg
Isaac Lab: A GPU Accelerated Simulation Framework For Multi-Modal Robot Learning
Mayank Mittal, Kelly Guo, Gavriel State, Spencer Huang
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
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Garrett
Towards a VLM Benchmark for Simulated Robotics
Xuning Yang, Clemens Eppner, Valts Blukis, Peter Belcak, Stephen Tyree, Stan Birchfield, Fabio Ramos, Jonathan Tremblay
Robot policy evaluation for sim-to-real transfer: A benchmarking perspective
Xuning Yang, Clemens Eppner, Jonathan Tremblay, Dieter Fox, Stan Birchfield, Fabio Ramos
Latent Action Pretraining from Videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo
Aim My Robot: Precision Local Navigation to Any Object
Xiangyun Meng, Xuning Yang, Sanghun Jung, Fabio Ramos, Sri Sadhan Jujjavarapu, Sanjoy Paul, Dieter Fox
NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots
Yuke Zhu, Linxi "Jim" Fan, NVIDIA GEAR Team
Cosmos World Foundation Model Platform for Physical AI
Ming-Yu Liu, Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf, Jing Zhang