Ankur Handa

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

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

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, Yashraj S. Narang, Iretiayo Akinola

CoRR, 2024

AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries.

Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj S. Narang

CoRR, 2024

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

CoRR, 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, Loris Roveda

CoRR, 2024

Geometric Fabrics: a Safe Guiding Medium for Policy Learning.

Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

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, Nathan D. Ratliff, Dieter Fox

CoRR, 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, Dieter Fox, Yashraj S. Narang

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training.

Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk

Proceedings of the Robotics: Science and Systems XIX, Daegu, 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, Nathan D. Ratliff, Dieter Fox

Proceedings of the IEEE International Conference on Robotics and Automation, 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

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Imitating Task and Motion Planning with Visuomotor Transformers.

Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

Proceedings of the Conference on Robot Learning, 2023

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, Dieter Fox, Gavriel State

CoRR, 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

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.

Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 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

Proceedings of the Conference on Robot Learning, 2022

Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation.

Rika Antonova, Ankur Handa

Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems, 2022

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, Shuran Song, Peter Welinder, Martha White

IEEE Trans Autom. Sci. Eng., 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

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

Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks 1, 2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects.

Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

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

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, Shuran Song, Peter Welinder, Martha White

CoRR, 2020

A User's Guide to Calibrating Robotics Simulators.

Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

CoRR, 2020

Information Theoretic Model Predictive Q-Learning.

Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots

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.

Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System.

Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A User's Guide to Calibrating Robotic Simulators.

Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

Proceedings of the 4th Conference on Robot Learning, 2020

2019

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact.

Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning Latent Space Dynamics for Tactile Servoing.

Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox

Proceedings of the International Conference on Robotics and Automation, 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

Proceedings of the International Conference on Robotics and Automation, 2019

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

Proceedings of the International Conference on Robotics and Automation, 2019

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, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.

Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox

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.

Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang

CoRR, 2017

SemanticFusion: Dense 3D semantic mapping with convolutional neural networks.

John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger

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?

John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison

Proceedings of the IEEE International Conference on Computer Vision, 2017

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: An annotated model generator for indoor scene understanding.

Ankur Handa, Viorica Patraucean, Simon Stent, Roberto Cipolla

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

gvnn: Neural Network Library for Geometric Computer Vision.

Ankur Handa, Michael Bloesch, Viorica Patraucean, Simon Stent, John McCormac, Andrew J. Davison

Proceedings of the Computer Vision - ECCV 2016 Workshops, 2016

Understanding RealWorld Indoor Scenes with Synthetic Data.

Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla

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.

Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway

Proceedings of the Fourth International Conference on 3D Vision, 2016

2015

Spatio-temporal video autoencoder with differentiable memory.

Viorica Patraucean, Ankur Handa, 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

SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes.

Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla

CoRR, 2015

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

Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla

CoRR, 2015

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

Proceedings of the Information Processing in Computer-Assisted Interventions, 2014

A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM.

Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Simultaneous Mosaicing and Tracking with an Event Camera.

Hanme Kim, Ankur Handa, Ryad Benosman, Sio-Hoi Ieng, Andrew J. Davison

Proceedings of the British Machine Vision Conference, 2014

2013

Analysing high frame-rate camera tracking.

Ankur Handa

PhD thesis, 2013

2012

Real-Time Camera Tracking: When is High Frame-Rate Best?

Ankur Handa, Richard A. Newcombe, Adrien Angeli, Andrew J. Davison

Proceedings of the Computer Vision - ECCV 2012, 2012

2010

Scalable active matching.

Ankur Handa, Margarita Chli, Hauke Strasdat, Andrew J. Davison

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