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

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2025

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
Task-Oriented Human Grasp Synthesis via Context- and Task-Aware Diffusers
An-Lun Liu, Yu-Wei Chao, Yi-Ting Chen
ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation
Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg
SALAD: Self-Adaptive Link Adaptation
Reinhard Wiesmayr, Lorenzo Maggi, Sebastian Cammerer, Jakob Hoydis, Fayçal Aït Aoudia , Alex Keller
Pedestrian Collision Avoidance in Hemianopia during Natural Walking in Immersive Virtual Reality
Jonathan K. Doyon, Sujin Kim, Alex D. Hwang, Jae-Hyun Jung
Lead Rush: A First-Person Shooter for User Studies and Understanding Effects of Frame Time Spikes
Samin Shahriar Tokey, Ben Boudaoud, Joohwan Kim, Josef Spjut, Peter Xenopoulos, Mark Claypool
Timing Matters: The Impact of Event-Specific Frametime Spikes in First-Person Shooter Games
Samin Shahriar Tokey, Ben Boudaoud, Joohwan Kim, Josef Spjut, Mark Claypool
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
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Garrett
FVDebug: An LLM-Driven Debugging Assistant for Automated Root Cause Analysis of Formal Verification Failures
Yunsheng Bai, Ghaith Bany Hamad, Chia-Tung (Mark) Ho, Syed Suhaib, Mark Haoxing Ren
Huge ensembles–Part 1: Design of ensemble weather forecasts using spherical Fourier neural operators
Ankur Mahesh, William D. Collins, Boris Bonev, Noah Brenowitz, Yair Cohen, Joshua Elms, Peter Harrington, Karthik Kashinath, Thorsten Kurth, Joshua North, Travis O'Brian, Mike Pritchard, David Pruitt, Mark Risser, Shashank Subramanian, Jared Willard
Huge ensembles – Part 2: Properties of a huge ensemble of hindcasts generated with spherical Fourier neural operators
Ankur Mahesh, William D. Collins, Boris Bonev, Noah Brenowitz, Yair Cohen, Peter Harrington, Karthik Kashinath, Thorsten Kurth, Joshua North, Travis O'Brian, Mike Pritchard, David Pruitt, Mark Risser, Shashank Subramanian, Jared Willard
Real-time 3D Visualization of Radiance Fields on Light Field Displays
Jonghyun Kim, Cheng Sun, Michael Stengel, Matthew Chan, Andrew Russell, Jaehyun Jung, Wil Braithewaite, Shalini De Mello, David Luebke
VoiceNoNG: Robust High-Quality Speech Editing Model without Hallucinations
Sung-Feng Huang, Heng-Cheng Kuo, Zhehuai Chen, Xuesong Yang, Pin-Jui Ku, Ante Jukić, Huck Yang, Yu Tsao, Frank Wang, Hung-yi Lee, Szu-Wei Fu
GEN3C: 3D-Informed World-Consistent Video Generation with Precise Camera Control
Xuanchi Ren, Tianchang Shen, Jiahui Huang, Huan Ling, Yifan Lu, Merlin Nimier-David, Thomas Müller, Alex Keller, Sanja Fidler, Jun Gao
Assessing Learned Models for Phase-only Hologram Compression
Zicong Peng, Yicheng Zhan, Josef Spjut, Kaan Akşit
Esports Rendering: Industry and Player Perspectives
Josef Spjut, Benjamin Watson
GAIA: Generative Animatable Interactive Avatars with Expression-conditioned Gaussians
Zhengming Yu, Tianye Li, Jingxiang Sun, Omer Shapira, Seonwook Park, Michael Stengel, Matthew Chan, Xin Li, Wenping Wang, Koki Nagano, Shalini De Mello
MAISI-v2: Accelerated 3D High-Resolution Medical Image Synthesis with Rectified Flow and Region-specific Contrastive Loss
Can Zhao, Pengfei Guo, Dong Yang, Yucheng Tang, Yufan He, Benjamin Simon, Mason Belue, Stephanie Harmon, Baris Turkbey, Daguang Xu
Fly, Fail, Fix: Iterative Game Repair with Reinforcement Learning and Large Multimodal Models
Alex Zook, Josef Spjut, Jonathan Tremblay
Generative Detail Enhancement for Physically Based Materials
Saeed Hadadan, Benedikt Bitterli, Tizian Zeltner, Jan Novák, Fabrice Rousselle, Jacob Munkberg, Jon Hasselgren, Bart Wronski, Matthias Zwicker
Radiance Surfaces: Optimizing Surface Representations with a 5D Radiance Field Loss
Ziyi Zhang, Nicolas Roussel, Thomas Müller, Tizian Zeltner, Merlin Nimier-David, Fabrice Rousselle, Wenzel Jakob
Identity-Motion Trade-offs in Text-to-Video Generation
Yuval Atzmon, Rinon Gal, Yoad Tewel, Yoni Kasten, Gal Chechik
FourCastNet 3: A geometric approach to probabilistic machine-learning weather forecasting at scale
Boris Bonev, Thorsten Kurth, Ankur Mahesh, Mauro Bisson, Jean Kossaifi, Karthik Kashinath, Anima Anandkumar, William D. Collins, Mike Pritchard, Alex Keller
GenMol: A Drug Discovery Generalist with Discrete Diffusion
Seul Lee, Karsten Kreis, Srimukh Prasad Veccham, Meng Liu, Danny Reidenbach, Yuxing Peng, Saee Paliwal, Weili Nie, Arash Vahdat