Iretiayo Akinola

52 papers A* 7A 5Misc 2Journal 32Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly.
CoRR
Yijie Guo, Iretiayo Akinola, Lars Johannsmeier, Hugo Hadfield, Abhishek Gupta, Yashraj Narang
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
MatchMaker: Automated Asset Generation for Robotic Assembly.
ICRA
Yian Wang, Bingjie Tang, Chuang Gan, Dieter Fox, Kaichun Mo, Yashraj Narang, Iretiayo Akinola
2025 J jnl
MatchMaker: Automated Asset Generation for Robotic Assembly.
CoRR
Yian Wang, Bingjie Tang, Chuang Gan, Dieter Fox, Kaichun Mo, Yashraj Narang, Iretiayo Akinola
2025 J jnl
Neural Robot Dynamics.
CoRR
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang
2025 J jnl
Refinery: Active Fine-tuning and Deployment-time Optimization for Contact-Rich Policies.
CoRR
Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Abhishek Gupta, Yashraj Narang
2025 A* conf
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks.
ICLR
Yijie Guo, Bingjie Tang, Iretiayo Akinola, Dieter Fox, Abhishek Gupta, Yashraj Narang
2025 J jnl
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks.
CoRR
Yijie Guo, Bingjie Tang, Iretiayo Akinola, Dieter Fox, Abhishek Gupta, Yashraj Narang
2025 J jnl
TacSL: A Library for Visuotactile Sensor Simulation and Learning.
IEEE Trans. Robotics
Iretiayo Akinola, Jie Xu, Jan Carius, Dieter Fox, Yashraj Narang
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
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning.
CoRR
Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li
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 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 — conf
Signatures meet dynamic programming: Generalizing Bellman equations for trajectory following.
L4DC
Motoya Ohnishi, Iretiayo Akinola, Jie Xu, Ajay Mandlekar, Fabio Ramos
2024 J jnl
TacSL: A Library for Visuotactile Sensor Simulation and Learning.
CoRR
Iretiayo Akinola, Jie Xu, Jan Carius, Dieter Fox, Yashraj Narang
2023 A* conf
Global and Reactive Motion Generation with Geometric Fabric Command Sequences.
ICRA
Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan D. Ratliff, Fabio Ramos
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
2023 J jnl
Learning to Summarize and Answer Questions about a Virtual Robot's Past Actions.
CoRR
Chad DeChant, Iretiayo Akinola, Daniel Bauer
2023 J jnl
Learning to summarize and answer questions about a virtual robot's past actions.
Auton. Robots
Chad DeChant, Iretiayo Akinola, Daniel Bauer
2023 Misc conf
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations.
CoRL
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox
2023 J jnl
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations.
CoRR
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox
2023 J jnl
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following.
CoRR
Motoya Ohnishi, Iretiayo Akinola, Jie Xu, Ajay Mandlekar, Fabio Ramos
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 J jnl
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior.
IEEE Robotics Autom. Lett.
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff
2022 A* conf
Model Predictive Control for Fluid Human-to-Robot Handovers.
ICRA
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2022 J jnl
Model Predictive Control for Fluid Human-to-Robot Handovers.
CoRR
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
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
CLAMGen: Closed-Loop Arm Motion Generation via Multi-view Vision-Based RL.
IROS
Iretiayo Akinola, Zizhao Wang, Peter K. Allen
2021 J jnl
CLAMGen: Closed-Loop Arm Motion Generation via Multi-view Vision-Based RL.
CoRR
Iretiayo Akinola, Zizhao Wang, Peter K. Allen
2021 A conf
Dynamic Grasping with Reachability and Motion Awareness.
IROS
Iretiayo Akinola, Jingxi Xu, Shuran Song, Peter K. Allen
2021 J jnl
Dynamic Grasping with Reachability and Motion Awareness.
CoRR
Iretiayo Akinola, Jingxi Xu, Shuran Song, Peter K. Allen
2021 J jnl
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior.
CoRR
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff
2021 — —
Improving Robotic Manipulation via Reachability, Tactile, and Spatial Awareness.
Iretiayo Akinola
2021 A* conf
Visionary: Vision architecture discovery for robot learning.
ICRA
Iretiayo Akinola, Anelia Angelova, Yao Lu, Yevgen Chebotar, Dmitry Kalashnikov, Jacob Varley, Julian Ibarz, Michael S. Ryoo
2021 J jnl
Visionary: Vision architecture discovery for robot learning.
CoRR
Iretiayo Akinola, Anelia Angelova, Yao Lu, Yevgen Chebotar, Dmitry Kalashnikov, Jacob Varley, Julian Ibarz, Michael S. Ryoo
2020 A* conf
Accelerated Robot Learning via Human Brain Signals.
ICRA
Iretiayo Akinola, Zizhao Wang, Junyao Shi, Xiaomin He, Pawan Lapborisuth, Jingxi Xu, David Watkins-Valls, Paul Sajda, Peter K. Allen
2020 J jnl
Generative Attention Learning: a "GenerAL" framework for high-performance multi-fingered grasping in clutter.
Auton. Robots
Bohan Wu, Iretiayo Akinola, Abhi Gupta, Feng Xu, Jacob Varley, David Watkins-Valls, Peter K. Allen
2020 A* conf
Learning Precise 3D Manipulation from Multiple Uncalibrated Cameras.
ICRA
Iretiayo Akinola, Jacob Varley, Dmitry Kalashnikov
2020 J jnl
Learning Precise 3D Manipulation from Multiple Uncalibrated Cameras.
CoRR
Iretiayo Akinola, Jacob Varley, Dmitry Kalashnikov
2020 A conf
Maximizing BCI Human Feedback using Active Learning.
IROS
Zizhao Wang, Junyao Shi, Iretiayo Akinola, Peter K. Allen
2020 J jnl
Maximizing BCI Human Feedback using Active Learning.
CoRR
Zizhao Wang, Junyao Shi, Iretiayo Akinola, Peter K. Allen
2019 J jnl
Accelerated Robot Learning via Human Brain Signals.
CoRR
Iretiayo Akinola, Zizhao Wang, Junyao Shi, Xiaomin He, Pawan Lapborisuth, Jingxi Xu, David Watkins-Valls, Paul Sajda, Peter K. Allen
2019 Misc conf
MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning.
CoRL
Bohan Wu, Iretiayo Akinola, Jacob Varley, Peter K. Allen
2019 J jnl
MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning.
CoRR
Bohan Wu, Iretiayo Akinola, Jacob Varley, Peter K. Allen
2019 A conf
Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes.
IROS
Bohan Wu, Iretiayo Akinola, Peter K. Allen
2019 J jnl
Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes.
CoRR
Bohan Wu, Iretiayo Akinola, Peter K. Allen
2018 A conf
Workspace Aware Online Grasp Planning.
IROS
Iretiayo Akinola, Jacob Varley, Boyuan Chen, Peter K. Allen
2018 J jnl
Workspace Aware Online Grasp Planning.
CoRR
Iretiayo Akinola, Jacob Varley, Boyuan Chen, Peter K. Allen
2017 — conf
Task level hierarchical system for BCI-enabled shared autonomy.
Humanoids
Iretiayo Akinola, Boyuan Chen, Jonathan Koss, Aalhad Patankar, Jake Varley, Peter K. Allen