Ankur Handa

81 papers A* 16A 6Misc 5Journal 42Unranked 11
YearRankTypeTitle / Venue / Authors
2025 — conf
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation.
CASE
Asad Ali Shahid, Yashraj Narang, Vincenzo Petrone, Enrico Ferrentino, Ankur Handa, Dieter Fox, Marco Pavone, Loris Roveda
2025 A* conf
CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models.
CVPR
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, Ankur Handa, Tsung-Yi Lin, Gordon Wetzstein, Ming-Yu Liu, Donglai Xiang
2025 J jnl
CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models.
CoRR
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, Ankur Handa, Ming-Yu Liu, Donglai Xiang, Gordon Wetzstein, Tsung-Yi Lin
2025 J jnl
End-to-end RL Improves Dexterous Grasping Policies.
CoRR
Ritvik Singh, Karl Van Wyk, Pieter Abbeel, Jitendra Malik, Nathan D. Ratliff, Ankur Handa
2025 J jnl
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation Under Uncertainty.
IEEE Robotics Autom. Lett.
Michael Noseworthy, Bingjie Tang, Bowen Wen, Ankur Handa, Chad C. Kessens, Nicholas Roy, Dieter Fox, Fabio Ramos, Yashraj Narang, Iretiayo Akinola
2025 A conf
Synthetica: Large Scale Synthetic Data Generation for Robot Perception.
IROS
Ritvik Singh, Jason Jingzhou Liu, Karl Van Wyk, Yu-Wei Chao, Jean-Francois Lafleche, Florian Shkurti, Nathan D. Ratliff, Ankur Handa
2024 — conf
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries.
Robotics: Science and Systems
Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj Narang
2024 J jnl
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries.
CoRR
Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj Narang
2024 Misc conf
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics.
CoRL
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
2024 J jnl
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics.
CoRR
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
2024 J jnl
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands.
CoRR
Ritvik Singh, Arthur Allshire, Ankur Handa, Nathan D. Ratliff, Karl Van Wyk
2024 J jnl
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty.
CoRR
Michael Noseworthy, Bingjie Tang, Bowen Wen, Ankur Handa, Nicholas Roy, Dieter Fox, Fabio Ramos, Yashraj Narang, Iretiayo Akinola
2024 A* conf
Geometric Fabrics: a Safe Guiding Medium for Policy Learning.
ICRA
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
2024 J jnl
Geometric Fabrics: a Safe Guiding Medium for Policy Learning.
CoRR
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
2024 J jnl
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation.
CoRR
Asad Ali Shahid, Yashraj Narang, Vincenzo Petrone, Enrico Ferrentino, Ankur Handa, Dieter Fox, Marco Pavone, Loris Roveda
2024 J jnl
Synthetica: Large Scale Synthetic Data for Robot Perception.
CoRR
Ritvik Singh, Jingzhou Liu, Karl Van Wyk, Yu-Wei Chao, Jean-Francois Lafleche, Florian Shkurti, Nathan D. Ratliff, Ankur Handa
2023 J jnl
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.
CoRR
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
2023 A* conf
CuRobo: Parallelized Collision-Free Robot Motion Generation.
ICRA
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
2023 A* conf
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
ICRA
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang
2023 — conf
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training.
Robotics: Science and Systems
Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk
2023 J jnl
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training.
CoRR
Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk
2023 Misc conf
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRL
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
2023 J jnl
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRR
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
2023 — conf
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality.
Robotics: Science and Systems
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang
2023 J jnl
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality.
CoRR
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang
2022 J jnl
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
CoRR
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, Gavriel State
2022 — conf
Factory: Fast Contact for Robotic Assembly.
Robotics: Science and Systems
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 J jnl
Factory: Fast Contact for Robotic Assembly.
CoRR
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 Misc conf
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration.
CoRL
Mandy Xie, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan D. Ratliff, Karl Van Wyk
2022 A conf
Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation.
AAMAS
Rika Antonova, Ankur Handa
2022 A conf
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger.
IROS
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg
2021 J jnl
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations.
CoRR
Henry M. Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox
2021 A* conf
DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
CVPR
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
2021 J jnl
DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
CoRR
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
2021 — conf
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning.
NeurIPS Datasets and Benchmarks
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
2021 J jnl
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning.
CoRR
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
2021 J jnl
Sim2Real in Robotics and Automation: Applications and Challenges.
IEEE Trans Autom. Sci. Eng.
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John J. Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
2021 J jnl
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger.
CoRR
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg
2020 Misc conf
A User's Guide to Calibrating Robotic Simulators.
CoRL
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos
2020 J jnl
A User's Guide to Calibrating Robotics Simulators.
CoRR
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos
2020 A* conf
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System.
ICRA
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2020 A* conf
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation.
ICRA
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
2020 J jnl
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation.
CoRR
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
2020 — conf
Information Theoretic Model Predictive Q-Learning.
L4DC
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots
2020 J jnl
Information Theoretic Model Predictive Q-Learning.
CoRR
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots
2020 J jnl
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control.
CoRR
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
2020 J jnl
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control.
IEEE Robotics Autom. Lett.
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
2020 J jnl
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop.
CoRR
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John J. Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
2019 A* conf
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.
ICRA
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2019 A conf
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact.
IROS
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
2019 J jnl
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact.
CoRR
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
2019 J jnl
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System.
CoRR
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2019 A* conf
Learning Latent Space Dynamics for Tactile Servoing.
ICRA
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2019 A* conf
Robust Learning of Tactile Force Estimation through Robot Interaction.
ICRA
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2018 J jnl
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.
CoRR
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
2018 A conf
Domain Randomization and Generative Models for Robotic Grasping.
IROS
Josh Tobin, Lukas Biewald, Rocky Duan, Marcin Andrychowicz, Ankur Handa, Vikash Kumar, Bob McGrew, Alex Ray, Jonas Schneider, Peter Welinder, Wojciech Zaremba, Pieter Abbeel
2018 Misc conf
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRL
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2018 J jnl
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRR
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2018 J jnl
Learning Latent Space Dynamics for Tactile Servoing.
CoRR
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2018 J jnl
Robust Learning of Tactile Force Estimation through Robot Interaction.
CoRR
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2017 A* conf
SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?
ICCV
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
2017 J jnl
Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery.
CoRR
Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang
2017 A* conf
SemanticFusion: Dense 3D semantic mapping with convolutional neural networks.
ICRA
John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
2016 — conf
HDRFusion: HDR SLAM Using a Low-Cost Auto-Exposure RGB-D Sensor.
3DV
Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway
2016 J jnl
HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor.
CoRR
Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway
2016 J jnl
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth.
CoRR
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
2016 A* conf
SceneNet: An annotated model generator for indoor scene understanding.
ICRA
Ankur Handa, Viorica Patraucean, Simon Stent, Roberto Cipolla
2016 J jnl
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks.
CoRR
John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
2016 A* conf
Understanding RealWorld Indoor Scenes with Synthetic Data.
CVPR
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
2016 — conf
gvnn: Neural Network Library for Geometric Computer Vision.
ECCV Workshops (3)
Ankur Handa, Michael Bloesch, Viorica Patraucean, Simon Stent, John McCormac, Andrew J. Davison
2016 J jnl
gvnn: Neural Network Library for Geometric Computer Vision.
CoRR
Ankur Handa, Michael Blösch, Viorica Patraucean, Simon Stent, John McCormac, Andrew J. Davison
2015 J jnl
SceneNet: Understanding Real World Indoor Scenes With Synthetic Data.
CoRR
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
2015 J jnl
SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling.
CoRR
Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla
2015 J jnl
Spatio-temporal video autoencoder with differentiable memory.
CoRR
Viorica Patraucean, Ankur Handa, Roberto Cipolla
2015 J jnl
SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes.
CoRR
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
2014 A* conf
A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM.
ICRA
Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison
2014 — conf
Robust Real-Time Visual Odometry for Stereo Endoscopy Using Dense Quadrifocal Tracking.
IPCAI
Ping-Lin Chang, Ankur Handa, Andrew J. Davison, Danail Stoyanov, Philip J. Edwards
2014 A conf
Simultaneous Mosaicing and Tracking with an Event Camera.
BMVC
Hanme Kim, Ankur Handa, Ryad Benosman, Sio-Hoi Ieng, Andrew J. Davison
2013 — —
Analysing high frame-rate camera tracking.
Ankur Handa
2012 — conf
Real-Time Camera Tracking: When is High Frame-Rate Best?
ECCV (7)
Ankur Handa, Richard A. Newcombe, Adrien Angeli, Andrew J. Davison
2010 A* conf
Scalable active matching.
CVPR
Ankur Handa, Margarita Chli, Hauke Strasdat, Andrew J. Davison