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ORBIT : A Unified Simulation Framework for Interactive Robot Learning Environments

Mayank Mittal, Jingzhou Liu, Calvin Yu, Qinxi Yu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Pooria Poorsarvi Tehrani, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

Bayesian Object Models for Robotic Interaction with Differentiable Probabilistic Programming

Krishna Murthy Jatavallabhula, Miles Macklin, Dieter Fox, Animesh Garg, Fabio Ramos

Breaking Bad: A Dataset for Geometric Fracture and Reassembly

Silvia Sellán, Yun-Chun Chen, Ziyi Wu, Animesh Garg, Alec Jacobson

Insights towards Sim2Real Contact-Rich Manipulation

Michael Noseworthy, Iretiayo Akinola, Yashraj Narang, Fabio Ramos, Lucas Manuelli, Ankur Handa, Dieter Fox

Learning and Retrieval from Prior Data for Skill-based Imitation Learning

Soroush Nasiriany*, Tian Gao, Ajay Mandlekar, Yuke Zhu

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

MegaPose: 6D Pose Estimationof Novel Objects via Render & Compare

Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathie Aubry, Dieter Fox, Josef Sivic

MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge

Jim Fan, Guanzhi Wang, Yunfan Jiang, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu, Anima Anandkumar.

MoCoDA: Model-based Counterfactual Data Augmentation

Silviu Pitis, Elliot Creager, Ajay Mandlekar, Animesh Garg

Motion Policy Networks

Adam Fishman, Adithyavairavan Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox