Scalable active matching. - Ankur Handa; Margarita Chli; Hauke Strasdat; Andrew J. Davison (CVPR, 2010)

Real-Time Camera Tracking: When is High Frame-Rate Best? - Ankur Handa; Richard A. Newcombe; Adrien Angeli; Andrew J. Davison (ECCV (7), 2012)

Analysing high frame-rate camera tracking. - Ankur Handa (2013)

Simultaneous Mosaicing and Tracking with an Event Camera. - Hanme Kim; Ankur Handa; Ryad Benosman; Sio-Hoi Ieng; Andrew J. Davison (BMVC, 2014)

A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM. - Ankur Handa; Thomas Whelan; John McDonald 001; Andrew J. Davison (ICRA, 2014)

Robust Real-Time Visual Odometry for Stereo Endoscopy Using Dense Quadrifocal Tracking. - Ping-Lin Chang; Ankur Handa; Andrew J. Davison; Danail Stoyanov; Philip J. Edwards (IPCAI, 2014)

SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling. - Vijay Badrinarayanan; Ankur Handa; Roberto Cipolla (CoRR, 2015)

SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes. - Ankur Handa; Viorica Patraucean; Vijay Badrinarayanan; Simon Stent; Roberto Cipolla (CoRR, 2015)

SceneNet: Understanding Real World Indoor Scenes With Synthetic Data. - Ankur Handa; Viorica Patraucean; Vijay Badrinarayanan; Simon Stent; Roberto Cipolla (CoRR, 2015)

Spatio-temporal video autoencoder with differentiable memory. - Viorica Patraucean; Ankur Handa; Roberto Cipolla (CoRR, 2015)

HDRFusion: HDR SLAM Using a Low-Cost Auto-Exposure RGB-D Sensor. - Shuda Li; Ankur Handa; Yang Zhang; Andrew Calway (3DV, 2016)

Understanding RealWorld Indoor Scenes with Synthetic Data. - Ankur Handa; Viorica Patraucean; Vijay Badrinarayanan; Simon Stent; Roberto Cipolla (CVPR, 2016)

gvnn: Neural Network Library for Geometric Computer Vision. - Ankur Handa; Michael Bloesch; Viorica Patraucean; Simon Stent; John McCormac; Andrew J. Davison (ECCV Workshops (3), 2016)

SceneNet: An annotated model generator for indoor scene understanding. - Ankur Handa; Viorica Patraucean; Simon Stent; Roberto Cipolla (ICRA, 2016)

SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth. - John McCormac; Ankur Handa; Stefan Leutenegger; Andrew J. Davison (CoRR, 2016)

SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation? - John McCormac; Ankur Handa; Stefan Leutenegger; Andrew J. Davison (ICCV, 2017)

SemanticFusion: Dense 3D semantic mapping with convolutional neural networks. - John McCormac; Ankur Handa; Andrew J. Davison; Stefan Leutenegger (ICRA, 2017)

Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery. - Menglong Ye; Edward Johns; Ankur Handa; Lin Zhang 021; Philip Pratt; Guang-Zhong Yang (CoRR, 2017)

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning. - Jacky Liang; Viktor Makoviychuk; Ankur Handa; Nuttapong Chentanez; Miles Macklin; Dieter Fox (CoRL, 2018)

Domain Randomization and Generative Models for Robotic Grasping. - Josh Tobin; Lukas Biewald; Rocky Duan; Marcin Andrychowicz; Ankur Handa; Vikash Kumar; Bob McGrew; Alex Ray; Jonas Schneider 002; Peter Welinder; Wojciech Zaremba; Pieter Abbeel (IROS, 2018)

Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. - Yevgen Chebotar; Ankur Handa; Viktor Makoviychuk; Miles Macklin; Jan Issac; Nathan D. Ratliff; Dieter Fox (ICRA, 2019)

Robust Learning of Tactile Force Estimation through Robot Interaction. - Balakumar Sundaralingam; Alexander Sasha Lambert; Ankur Handa; Byron Boots; Tucker Hermans; Stan Birchfield; Nathan D. Ratliff; Dieter Fox (ICRA, 2019)

Learning Latent Space Dynamics for Tactile Servoing. - Giovanni Sutanto; Nathan D. Ratliff; Balakumar Sundaralingam; Yevgen Chebotar; Zhe Su; Ankur Handa; Dieter Fox (ICRA, 2019)

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact. - Samarth Brahmbhatt; Ankur Handa; James Hays; Dieter Fox (IROS, 2019)

A User's Guide to Calibrating Robotic Simulators. - Bhairav Mehta; Ankur Handa; Dieter Fox; Fabio Ramos 001 (CoRL, 2020)

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System. - Ankur Handa; Karl Van Wyk; Wei Yang 019; Jacky Liang; Yu-Wei Chao; Qian Wan; Stan Birchfield; Nathan D. Ratliff; Dieter Fox (ICRA, 2020)

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation. - Jacky Liang; Ankur Handa; Karl Van Wyk; Viktor Makoviychuk; Oliver Kroemer; Dieter Fox (ICRA, 2020)

Information Theoretic Model Predictive Q-Learning. - Mohak Bhardwaj; Ankur Handa; Dieter Fox; Byron Boots (L4DC, 2020)

A User's Guide to Calibrating Robotics Simulators. - Bhairav Mehta; Ankur Handa; Dieter Fox; Fabio Ramos 001 (CoRR, 2020)

Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. - Sebastian Höfer; Kostas E. Bekris; Ankur Handa; Juan Camilo Gamboa Higuera; Florian Golemo; Melissa Mozifian; Christopher G. Atkeson; Dieter Fox; Ken Goldberg; John Leonard; C. Karen Liu; Jan Peters 001; et al. (CoRR, 2020)

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. - Ian Abraham; Ankur Handa; Nathan D. Ratliff; Kendall Lowrey; Todd D. Murphey; Dieter Fox (IEEE Robotics Autom. Lett., 2020)

DexYCB: A Benchmark for Capturing Hand Grasping of Objects. - Yu-Wei Chao; Wei Yang 019; Yu Xiang 001; Pavlo Molchanov 001; Ankur Handa; Jonathan Tremblay; Yashraj S. Narang; Karl Van Wyk; Umar Iqbal 001; Stan Birchfield; Jan Kautz; Dieter Fox (CVPR, 2021)

Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning. - Viktor Makoviychuk; Lukasz Wawrzyniak; Yunrong Guo; Michelle Lu; Kier Storey; Miles Macklin; David Hoeller; Nikita Rudin; Arthur Allshire; Ankur Handa; Gavriel State (NeurIPS Datasets and Benchmarks, 2021)

Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations. - Henry M. Clever; Ankur Handa; Hammad Mazhar; Kevin Parker; Omer Shapira; Qian Wan; Yashraj S. Narang; Iretiayo Akinola; Maya Cakmak; Dieter Fox (CoRR, 2021)

Sim2Real in Robotics and Automation: Applications and Challenges. - Sebastian Höfer; Kostas E. Bekris; Ankur Handa; Juan Camilo Gamboa; Melissa Mozifian; Florian Golemo; Christopher G. Atkeson; Dieter Fox; Ken Goldberg; John Leonard; C. Karen Liu; Jan Peters 001; et al. (IEEE Trans Autom. Sci. Eng., 2021)

Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation. - Rika Antonova; Ankur Handa (AAMAS, 2022)

Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration. - Mandy Xie; Ankur Handa; Stephen Tyree; Dieter Fox; Harish Ravichandar; Nathan D. Ratliff; Karl Van Wyk (CoRL, 2022)

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger. - Arthur Allshire; Mayank Mittal; Varun Lodaya; Viktor Makoviychuk; Denys Makoviichuk; Felix Widmaier; Manuel Wüthrich; Stefan Bauer; Ankur Handa; Animesh Garg (IROS, 2022)

Factory: Fast Contact for Robotic Assembly. - Yashraj S. Narang; Kier Storey; Iretiayo Akinola; Miles Macklin; Philipp Reist; Lukasz Wawrzyniak; Yunrong Guo; Ádám Moravánszky; Gavriel State; Michelle Lu; Ankur Handa; Dieter Fox (Robotics: Science and Systems, 2022)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - Ankur Handa; Arthur Allshire; Viktor Makoviychuk; Aleksei Petrenko; Ritvik Singh; Jingzhou Liu; Denys Makoviichuk; Karl Van Wyk; Alexander Zhurkevich; Balakumar Sundaralingam; Yashraj S. Narang; Jean-Francois Lafleche; et al. (CoRR, 2022)

Imitating Task and Motion Planning with Visuomotor Transformers. - Murtaza Dalal; Ajay Mandlekar; Caelan Reed Garrett; Ankur Handa; Ruslan Salakhutdinov; Dieter Fox (CoRL, 2023)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - Ankur Handa; Arthur Allshire; Viktor Makoviychuk; Aleksei Petrenko; Ritvik Singh; Jingzhou Liu; Denys Makoviichuk; Karl Van Wyk; Alexander Zhurkevich; Balakumar Sundaralingam; Yashraj S. Narang (ICRA, 2023)

CuRobo: Parallelized Collision-Free Robot Motion Generation. - Balakumar Sundaralingam; Siva Kumar Sastry Hari; Adam Fishman; Caelan Reed Garrett; Karl Van Wyk; Valts Blukis; Alexander Millane; Helen Oleynikova; Ankur Handa; Fabio Ramos 001; Nathan D. Ratliff; Dieter Fox (ICRA, 2023)

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training. - Aleksei Petrenko; Arthur Allshire; Gavriel State; Ankur Handa; Viktor Makoviychuk (Robotics: Science and Systems, 2023)

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. - Bingjie Tang; Michael A. Lin; Iretiayo Akinola; Ankur Handa; Gaurav S. Sukhatme; Fabio Ramos 001; Dieter Fox; Yashraj S. Narang (Robotics: Science and Systems, 2023)

CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. - Balakumar Sundaralingam; Siva Kumar Sastry Hari; Adam Fishman; Caelan Reed Garrett; Karl Van Wyk; Valts Blukis; Alexander Millane; Helen Oleynikova; Ankur Handa; Fabio Ramos 001; Nathan D. Ratliff; Dieter Fox (CoRR, 2023)

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics. - Tyler Ga Wei Lum; Martin Matak; Viktor Makoviychuk; Ankur Handa; Arthur Allshire; Tucker Hermans; Nathan D. Ratliff; Karl Van Wyk (CoRL, 2024)

Geometric Fabrics: a Safe Guiding Medium for Policy Learning. - Karl Van Wyk; Ankur Handa; Viktor Makoviychuk; Yijie Guo; Arthur Allshire; Nathan D. Ratliff (ICRA, 2024)

AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries. - Bingjie Tang; Iretiayo Akinola; Jie Xu 028; Bowen Wen; Ankur Handa; Karl Van Wyk; Dieter Fox; Gaurav S. Sukhatme; Fabio Ramos 001; Yashraj S. Narang (Robotics: Science and Systems, 2024)

Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation. - Asad Ali Shahid; Yashraj S. Narang; Vincenzo Petrone; Enrico Ferrentino; Ankur Handa; Dieter Fox; Marco Pavone 001; Loris Roveda (CoRR, 2024)

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty. - Michael Noseworthy; Bingjie Tang; Bowen Wen; Ankur Handa; Nicholas Roy; Dieter Fox; Fabio Ramos 001; Yashraj S. Narang; Iretiayo Akinola (CoRR, 2024)

Synthetica: Large Scale Synthetic Data for Robot Perception. - Ritvik Singh; Jingzhou Liu; Karl Van Wyk; Yu-Wei Chao; Jean-Francois Lafleche; Florian Shkurti; Nathan D. Ratliff; Ankur Handa (CoRR, 2024)

DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands. - Ritvik Singh; Arthur Allshire; Ankur Handa; Nathan D. Ratliff; Karl Van Wyk (CoRR, 2024)

CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models. - Qingqing Zhao; Yao Lu 006; Moo Jin Kim; Zipeng Fu; Zhuoyang Zhang; Yecheng Wu; Zhaoshuo Li; Qianli Ma; Song Han 003; Chelsea Finn; Ankur Handa; Tsung-Yi Lin; et al. (CVPR, 2025)

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation Under Uncertainty. - Michael Noseworthy; Bingjie Tang; Bowen Wen; Ankur Handa; Chad C. Kessens; Nicholas Roy; Dieter Fox; Fabio Ramos 001; Yashraj S. Narang; Iretiayo Akinola (IEEE Robotics Autom. Lett., 2025)