Eric Heiden

48 papers A* 8A 3C 1Journal 30Unranked 6
YearRankTypeTitle / Venue / Authors
2025 A conf
ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation.
IROS
Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg
2025 J jnl
Neural Robot Dynamics.
CoRR
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang
2025 J jnl
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent.
IEEE Robotics Autom. Lett.
Yewon Lee, Andrew Zou Li, Philip Huang, Eric Heiden, Krishna Murthy Jatavallabhula, Fabian Damken, Kevin Smith, Derek Nowrouzezahrai, Fabio Ramos, Florian Shkurti
2025 J jnl
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices.
CoRR
Elie Aljalbout, Jiaxu Xing, Angel Romero, Iretiayo Akinola, Caelan Reed Garrett, Eric Heiden, Abhishek Gupta, Tucker Hermans, Yashraj Narang, Dieter Fox, Davide Scaramuzza, Fabio Ramos
2025 J jnl
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies.
CoRR
Liquan Wang, Jiang Bian, Eric Heiden, Animesh Garg
2024 A* conf
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation.
ICML
Ignat Georgiev, Krishnan Srinivasan, Jie Xu, Eric Heiden, Animesh Garg
2024 J jnl
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation.
CoRR
Ignat Georgiev, Krishnan Srinivasan, Jie Xu, Eric Heiden, Animesh Garg
2024 A* conf
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors.
ICRA
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu, Eric Heiden, Dylan Turpin, Jingzhou Liu, Ming C. Lin, Miles Macklin, Animesh Garg
2023 J jnl
DiSECt: a differentiable simulator for parameter inference and control in robotic cutting.
Auton. Robots
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2023 A* conf
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation.
ICRA
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2023 J jnl
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation.
CoRR
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Jingzhou Liu, Ritvik Singh, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2023 J jnl
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors.
CoRR
Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu, Eric Heiden, Dylan Turpin, Jingzhou Liu, Ming C. Lin, Miles Macklin, Animesh Garg
2023 J jnl
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent.
CoRR
Yewon Lee, Philip Huang, Krishna Murthy Jatavallabhula, Andrew Zou Li, Fabian Damken, Eric Heiden, Kevin Smith, Derek Nowrouzezahrai, Fabio Ramos, Florian Shkurti
2022 J jnl
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting.
CoRR
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2022 — conf
Grasp'D: Differentiable Contact-Rich Grasp Synthesis for Multi-Fingered Hands.
ECCV (6)
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2022 J jnl
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands.
CoRR
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven J. Dickinson, Animesh Garg
2022 A conf
Inferring Articulated Rigid Body Dynamics from RGBD Video.
IROS
Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme
2022 J jnl
Inferring Articulated Rigid Body Dynamics from RGBD Video.
CoRR
Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme
2022 J jnl
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge.
Field Robotics
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2022 A* conf
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation.
ICRA
Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav S. Sukhatme
2021 J jnl
Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots.
IEEE Robotics Autom. Lett.
Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai O. Arras, Gaurav S. Sukhatme, Sven Koenig
2021 — conf
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting.
Robotics: Science and Systems
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2021 J jnl
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting.
CoRR
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos
2021 J jnl
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2021 A* conf
NeuralSim: Augmenting Differentiable Simulators with Neural Networks.
ICRA
Eric Heiden, David Millard, Erwin Coumans, Yizhou Sheng, Gaurav S. Sukhatme
2021 J jnl
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation.
CoRR
Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav S. Sukhatme
2020 J jnl
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap.
CoRR
Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme
2020 J jnl
Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics.
CoRR
David Millard, Eric Heiden, Shubham Agrawal, Gaurav S. Sukhatme
2020 J jnl
Confidence-rich grid mapping.
CoRR
Ali-Akbar Agha-Mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme
2020 J jnl
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots.
CoRR
Eric Heiden, Luigi Palmieri, Kai Oliver Arras, Gaurav S. Sukhatme, Sven Koenig
2020 A* conf
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments.
ICRA
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-Akbar Agha-Mohammadi
2020 J jnl
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments.
CoRR
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-Akbar Agha-Mohammadi
2020 J jnl
NeuralSim: Augmenting Differentiable Simulators with Neural Networks.
CoRR
Eric Heiden, David Millard, Erwin Coumans, Yizhou Sheng, Gaurav S. Sukhatme
2020 A* conf
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking.
ICRA
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme
2020 J jnl
Scaling simulation-to-real transfer by learning a latent space of robot skills.
Int. J. Robotics Res.
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman
2019 J jnl
Confidence-rich grid mapping.
Int. J. Robotics Res.
Ali-Akbar Agha-Mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme
2019 J jnl
Interactive Differentiable Simulation.
CoRR
Eric Heiden, David Millard, Hejia Zhang, Gaurav S. Sukhatme
2019 J jnl
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking.
CoRR
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme
2018 J jnl
Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation.
CoRR
Hejia Zhang, Eric Heiden, Ryan Julian, Zhangpeng He, Joseph J. Lim, Gaurav S. Sukhatme
2018 A* conf
Gradient-Informed Path Smoothing for Wheeled Mobile Robots.
ICRA
Eric Heiden, Luigi Palmieri, Sven Koenig, Kai Oliver Arras, Gaurav S. Sukhatme
2018 — conf
Heterogeneous Sensor Fusion via Confidence-Rich 3D Grid Mapping: Application to Physical Robots.
ISER
Eric Heiden, Daniel Pastor, Pradyumna Vyshnav, Ali-Akbar Agha-Mohammadi
2018 — conf
Scaling Simulation-to-Real Transfer by Learning Composable Robot Skills.
ISER
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman
2018 J jnl
Scaling simulation-to-real transfer by learning composable robot skills.
CoRR
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman
2018 J jnl
Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations.
CoRR
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman
2017 — conf
Concept and Realization of a Diagnostic System for Smart Environments.
ICAART (2)
Eric Heiden, Sebastian Bader, Thomas Kirste
2017 C conf
Confidence-Rich Grid Mapping.
ISRR
Ali-Akbar Agha-Mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme
2017 A conf
Planning high-speed safe trajectories in confidence-rich maps.
IROS
Eric Heiden, Karol Hausman, Gaurav S. Sukhatme, Ali-Akbar Agha-Mohammadi
2017 — conf
Web Text-based Network Industry Classifications: Preliminary Results.
DSMM@SIGMOD
Eric Heiden, Gerard Hoberg, Craig A. Knoblock, Palak Modi, Gordon Phillips, Gaurangi Raul, Pedro A. Szekely