Ankur Handa

According to our database1, Ankur Handa authored at least 51 papers between 2010 and 2024.

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Bibliography

2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty.
CoRR, 2024

AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries.
CoRR, 2024

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics.
CoRR, 2024

Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation.
CoRR, 2024

Geometric Fabrics: a Safe Guiding Medium for Policy Learning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.
CoRR, 2023

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

CuRobo: Parallelized Collision-Free Robot Motion Generation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Imitating Task and Motion Planning with Visuomotor Transformers.
Proceedings of the Conference on Robot Learning, 2023

2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
CoRR, 2022

Factory: Fast Contact for Robotic Assembly.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration.
Proceedings of the Conference on Robot Learning, 2022

Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation.
Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems, 2022

2021
Sim2Real in Robotics and Automation: Applications and Challenges.
IEEE Trans Autom. Sci. Eng., 2021

Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations.
CoRR, 2021

Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning.
Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks 1, 2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

2020
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control.
IEEE Robotics Autom. Lett., 2020

Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop.
CoRR, 2020

A User's Guide to Calibrating Robotics Simulators.
CoRR, 2020

Information Theoretic Model Predictive Q-Learning.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A User's Guide to Calibrating Robotic Simulators.
Proceedings of the 4th Conference on Robot Learning, 2020

2019
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning Latent Space Dynamics for Tactile Servoing.
Proceedings of the International Conference on Robotics and Automation, 2019

Robust Learning of Tactile Force Estimation through Robot Interaction.
Proceedings of the International Conference on Robotics and Automation, 2019

Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Domain Randomization and Generative Models for Robotic Grasping.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
Proceedings of the 2nd Annual Conference on Robot Learning, 2018

2017
Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery.
CoRR, 2017

SemanticFusion: Dense 3D semantic mapping with convolutional neural networks.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?
Proceedings of the IEEE International Conference on Computer Vision, 2017

2016
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth.
CoRR, 2016

SceneNet: An annotated model generator for indoor scene understanding.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

gvnn: Neural Network Library for Geometric Computer Vision.
Proceedings of the Computer Vision - ECCV 2016 Workshops, 2016

Understanding RealWorld Indoor Scenes with Synthetic Data.
Proceedings of the 2016 IEEE Conference on Computer Vision and Pattern Recognition, 2016

HDRFusion: HDR SLAM Using a Low-Cost Auto-Exposure RGB-D Sensor.
Proceedings of the Fourth International Conference on 3D Vision, 2016

2015
Spatio-temporal video autoencoder with differentiable memory.
CoRR, 2015

SceneNet: Understanding Real World Indoor Scenes With Synthetic Data.
CoRR, 2015

SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes.
CoRR, 2015

SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling.
CoRR, 2015

2014
Robust Real-Time Visual Odometry for Stereo Endoscopy Using Dense Quadrifocal Tracking.
Proceedings of the Information Processing in Computer-Assisted Interventions, 2014

A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Simultaneous Mosaicing and Tracking with an Event Camera.
Proceedings of the British Machine Vision Conference, 2014

2013
Analysing high frame-rate camera tracking.
PhD thesis, 2013

2012
Real-Time Camera Tracking: When is High Frame-Rate Best?
Proceedings of the Computer Vision - ECCV 2012, 2012

2010
Scalable active matching.
Proceedings of the Twenty-Third IEEE Conference on Computer Vision and Pattern Recognition, 2010


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