Yashraj Narang ![](/sites/default/files/person/headshot.png) I lead the Seattle Robotics Lab (SRL) in NVIDIA Research. Team members are experts in perception, task and motion planning, control, reinforcement learning, imitation learning, simulation, sim-to-real transfer, and VLAs. We take an AI, compute, and simulation-driven approach to solve some of the hardest problems in robotics. **Note: The Publications section below is incomplete. Please see Google Scholar for a complete list of publications and patents.** Research Area(s) [Artificial Intelligence and Machine Learning ](/research-area/machine-learning-artificial-intelligence) [Generative AI](/research-area/generative-ai) [Physical AI](/research-area/physical-ai) [Robotics](/research-area/robotics) Main Field of Interest [Robotics](/research-area/robotics) Google Scholar [https://scholar.google.com/citations?hl=en&user=M3NuG7AAAAAJ&view\_op=list\_works…](https://scholar.google.com/citations?hl=en&user=M3NuG7AAAAAJ&view_op=list_works&sortby=pubdate) ### Publications ### 2025 [The Reality Gap in Robotics: Challenges, Solutions, and Best Practices](/publication/2025-10_reality-gap-robotics-challenges-solutions-and-best-practices) Elie Aljalbout, Jiaxu Xing, Angel Romero, [Iretiayo Akinola](/person/iretiayo-akinola), [Caelan Garrett](/person/caelan-garrett), Eric Heiden, Abhishek Gupta, [Tucker Hermans](/person/tucker-hermans), [Yashraj Narang](/person/yashraj-narang), Dieter Fox, Davide Scaramuzza, [Fabio Ramos](/person/fabio-ramos) [Annual Review of Control, Robotics, and Autonomous Systems 2026](https://arxiv.org/abs/2510.20808) [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/) [SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation](/index.php/publication/2025-05_spot-se3-pose-trajectory-diffusion-object-centric-manipulation) Cheng-Chun Hsu, [Bowen Wen](/index.php/person/bowen-wen), [Jie Xu](/index.php/person/jie-xu), [Yashraj Narang](/index.php/person/yashraj-narang), , [Yuke Zhu](/index.php/person/yuke-zhu), Joydeep Biswas, [Stan Birchfield](/index.php/person/stan-birchfield) [ICRA 2025](https://2025.ieee-icra.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/) ### 2023 [DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality](/publication/2023-06_dextreme-transfer-agile-hand-manipulation-simulation-reality) Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Yashraj Narang](/person/yashraj-narang), Jean-Francois Lafleche, Dieter Fox, Gavriel State [DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets](/index.php/publication/2023-05_defgraspnets-grasp-planning-3d-fields-graph-neural-nets) Isabella Huang, [Yashraj Narang](/index.php/person/yashraj-narang), Ruzena Bajcsy, [Fabio Ramos](/index.php/person/fabio-ramos), [Tucker Hermans](/index.php/person/tucker-hermans), Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/) [IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality](/publication/2023-05_industreal-transferring-contact-rich-assembly-tasks-simulation-reality) Bingjie Tang, Michael A. Lin, [Iretiayo Akinola](/person/iretiayo-akinola), Ankur Handa, Gaurav S. Sukhatme, [Fabio Ramos](/person/fabio-ramos), Dieter Fox, [Yashraj Narang](/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 [Accelerated Policy Learning with Parallel Differentiable Simulation](/publication/2022-05_accelerated-policy-learning-parallel-differentiable-simulation) [Jie Xu](/person/jie-xu), Viktor Makoviychuk, [Yashraj Narang](/person/yashraj-narang), [Fabio Ramos](/person/fabio-ramos), Wojciech Matusik, Animesh Garg, Miles Macklin [International Conference on Learning Representations (ICLR) 2022](https://iclr.cc/Conferences/2022) [DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects](/index.php/publication/2022-03_defgraspsim-physics-based-simulation-grasp-outcomes-3d-deformable-objects) Isabella Huang, [Yashraj Narang](/index.php/person/yashraj-narang), Clemens Eppner, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Miles Macklin, Ruzena Bajcsy, [Tucker Hermans](/index.php/person/tucker-hermans), Dieter Fox [IEEE Robotics and Automation Letters](https://ieeexplore.ieee.org/document/9735347) ### 2021 [Interpreting and predicting tactile signals for the SynTouch BioTac](/index.php/publication/2021-12_interpreting-and-predicting-tactile-signals-syntouch-biotac) [Yashraj Narang](/index.php/person/yashraj-narang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Karl Van Wyk, Arsalan Mousavian, Dieter Fox [International Journal of Robotics Research (IJRR) 2021](https://journals.sagepub.com/doi/abs/10.1177/02783649211047634?journalCode=ijra) [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](/publication/2021-06_dexycb-benchmark-capturing-hand-grasping-objects) [Yu-Wei Chao](/person/yu-wei-chao), [Wei Yang](/person/wei-yang), Yu Xiang, [Pavlo Molchanov](/person/pavlo-molchanov), Ankur Handa, [Jonathan Tremblay](/person/jonathan-tremblay), [Yashraj Narang](/person/yashraj-narang), Karl Van Wyk, [Umar Iqbal](/person/umar-iqbal), [Stan Birchfield](/person/stan-birchfield), [Jan Kautz](/person/jan-kautz), Dieter Fox [IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021](http://cvpr2021.thecvf.com) [Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections](/index.php/publication/2021-06_sim-real-robotic-tactile-sensing-physics-based-simulation-and-learned-latent) [Yashraj Narang](/index.php/person/yashraj-narang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Miles Macklin, Arsalan Mousavian, Dieter Fox [International Conference on Robotics and Automation (ICRA) 2021](https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra)