Yashraj Narang

55 papers A* 9Misc 2Journal 38Unranked 6
YearRankTypeTitle / Venue / Authors
2026 J jnl
Point Bridge: 3D Representations for Cross Domain Policy Learning.
CoRR
Siddhant Haldar, Lars Johannsmeier, Lerrel Pinto, Abhishek Gupta, Dieter Fox, Yashraj Narang, Ajay Mandlekar
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 — 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 J jnl
DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation.
CoRR
Zhao Mandi, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar, Shuran Song
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 A* conf
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation.
ICML
Zhendong Wang, Max Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, Ming-Yu Liu, Yu Zeng
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 J jnl
RobotSmith: Generative Robotic Tool Design for Acquisition of Complex Manipulation Skills.
CoRR
Chunru Lin, Haotian Yuan, Yian Wang, Xiaowen Qiu, Tsun-Hsuan Wang, Minghao Guo, Bohan Wang, Yashraj Narang, Dieter Fox, Chuang Gan
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
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 J jnl
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation.
CoRR
Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, Ming-Yu Liu, Yu Zeng
2024 J jnl
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation.
CoRR
Cheng-Chun Hsu, Bowen Wen, Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield
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
TacSL: A Library for Visuotactile Sensor Simulation and Learning.
CoRR
Iretiayo Akinola, Jie Xu, Jan Carius, Dieter Fox, Yashraj Narang
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 A* conf
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets.
ICRA
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
2023 J jnl
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets.
CoRR
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
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 — 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 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
2022 A* conf
Accelerated Policy Learning with Parallel Differentiable Simulation.
ICLR
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
2022 J jnl
Accelerated Policy Learning with Parallel Differentiable Simulation.
CoRR
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio T. Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
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 J jnl
DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects.
IEEE Robotics Autom. Lett.
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
2022 J jnl
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
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
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
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 J jnl
DefGraspSim: Simulation-based grasping of 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, 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
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
Interpreting and Predicting Tactile Signals for the SynTouch BioTac.
CoRR
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2021 J jnl
Interpreting and predicting tactile signals for the SynTouch BioTac.
Int. J. Robotics Res.
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2021 A* conf
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
ICRA
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2021 J jnl
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
CoRR
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2020 A* conf
Inferring the Material Properties of Granular Media for Robotic Tasks.
ICRA
Carolyn Matl, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Dieter Fox
2020 J jnl
Inferring the Material Properties of Granular Media for Robotic Tasks.
CoRR
Carolyn Matl, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Dieter Fox
2020 — conf
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework.
Robotics: Science and Systems
Yashraj Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2020 J jnl
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework.
CoRR
Yashraj Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2020 Misc conf
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics.
CoRL
Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos
2020 J jnl
STReSSD: Sim-To-Real from Sound for Stochastic Dynamics.
CoRR
Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos
2018 J jnl
Transforming the Dynamic Response of Robotic Structures and Systems Through Laminar Jamming.
IEEE Robotics Autom. Lett.
Yashraj Narang, Alperen Degirmenci, Joost J. Vlassak, Robert D. Howe