Bibliography

Bibliography#

[AML+22]

Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, and Animesh Garg. Transferring dexterous manipulation from gpu simulation to a remote real-world trifinger. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11802–11809. IEEE, 2022.

[Bus04]

Samuel Buss. Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. IEEE Transactions in Robotics and Automation, 17:, 2004.

[CMI+21]

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, and Nathan Ratliff. Rmpflow: a geometric framework for generation of multitask motion policies. IEEE Transactions on Automation Science and Engineering, 18(3):968–987, 2021. doi:10.1109/TASE.2021.3053422.

[HAM+22]

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, and Gavriel State. Dextreme: transfer of agile in-hand manipulation from simulation to reality. arXiv preprint arXiv:2210.13702, 2022.

[HZRS16]

Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun. Deep residual learning for image recognition. In Proceedings of the IEEE conference on computer vision and pattern recognition, 770–778. 2016.

[HLD+19]

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter. Learning agile and dynamic motor skills for legged robots. Science Robotics, 4(26):eaau5872, 2019.

[Kha87]

O. Khatib. A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE Journal on Robotics and Automation, 3(1):43–53, 1987. doi:10.1109/JRA.1987.1087068.

[MWG+21]

Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and Gavriel State. Isaac gym: high performance gpu-based physics simulation for robot learning. arXiv preprint arXiv:2108.10470, 2021.

[MHF+22]

Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg. Articulated object interaction in unknown scenes with whole-body mobile manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

[MRT+25]

Mayank Mittal, Pascal Roth, James Tigue, Antoine Richard, Octi Zhang, Peter Du, Antonio Serrano-Muñoz, Xinjie Yao, René Zurbrügg, Nikita Rudin, Lukasz Wawrzyniak, Milad Rakhsha, Alain Denzler, Eric Heiden, Ales Borovicka, Ossama Ahmed, Iretiayo Akinola, Abrar Anwar, Mark T. Carlson, Ji Yuan Feng, Animesh Garg, Renato Gasoto, Lionel Gulich, Yijie Guo, M. Gussert, Alex Hansen, Mihir Kulkarni, Chenran Li, Wei Liu, Viktor Makoviychuk, Grzegorz Malczyk, Hammad Mazhar, Masoud Moghani, Adithyavairavan Murali, Michael Noseworthy, Alexander Poddubny, Nathan Ratliff, Welf Rehberg, Clemens Schwarke, Ritvik Singh, James Latham Smith, Bingjie Tang, Ruchik Thaker, Matthew Trepte, Karl Van Wyk, Fangzhou Yu, Alex Millane, Vikram Ramasamy, Remo Steiner, Sangeeta Subramanian, Clemens Volk, CY Chen, Neel Jawale, Ashwin Varghese Kuruttukulam, Michael A. Lin, Ajay Mandlekar, Karsten Patzwaldt, John Welsh, Huihua Zhao, Fatima Anes, Jean-Francois Lafleche, Nicolas Moënne-Loccoz, Soowan Park, Rob Stepinski, Dirk Van Gelder, Chris Amevor, Jan Carius, Jumyung Chang, Anka He Chen, Pablo de Heras Ciechomski, Gilles Daviet, Mohammad Mohajerani, Julia von Muralt, Viktor Reutskyy, Michael Sauter, Simon Schirm, Eric L. Shi, Pierre Terdiman, Kenny Vilella, Tobias Widmer, Gordon Yeoman, Tiffany Chen, Sergey Grizan, Cathy Li, Lotus Li, Connor Smith, Rafael Wiltz, Kostas Alexis, Yan Chang, David Chu, Linxi "Jim" Fan, Farbod Farshidian, Ankur Handa, Spencer Huang, Marco Hutter, Yashraj Narang, Soha Pouya, Shiwei Sheng, Yuke Zhu, Miles Macklin, Adam Moravanszky, Philipp Reist, Yunrong Guo, David Hoeller, and Gavriel State. Isaac lab: a gpu-accelerated simulation framework for multi-modal robot learning. arXiv preprint arXiv:2511.04831, 2025. URL: https://arxiv.org/abs/2511.04831.

[MRK+24]

Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, and Marco Hutter. Symmetry considerations for learning task symmetric robot policies. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 7433–7439. 2024. doi:10.1109/ICRA57147.2024.10611493.

[NSA+22]

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, and Dieter Fox. Factory: fast contact for robotic assembly. arXiv preprint arXiv:2205.03532, 2022.

[RHBH22]

Nikita Rudin, David Hoeller, Marko Bjelonic, and Marco Hutter. Advanced skills by learning locomotion and local navigation end-to-end. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), volume, 2497–2503. 2022. doi:10.1109/IROS47612.2022.9981198.

[RHRH22]

Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter. Learning to walk in minutes using massively parallel deep reinforcement learning. In Conference on Robot Learning, 91–100. PMLR, 2022.

[SKB+23]

Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, and Marco Hutter. Curiosity-driven learning of joint locomotion and manipulation tasks. In Proceedings of The 7th Conference on Robot Learning, volume 229 of Proceedings of Machine Learning Research, 2594–2610. PMLR, 2023. URL: https://proceedings.mlr.press/v229/schwarke23a.html.

[SSM+24]

Jinghuan Shang, Karl Schmeckpeper, Brandon B May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, and Laura Herlant. Theia: distilling diverse vision foundation models for robot learning. arXiv preprint arXiv:2407.20179, 2024.

[SSVO09]

Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Force control. Springer, 2009.