IsaacSim
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Related Articles from SNS
Affordance-Based Hierarchical Reinforcement Learning for Quadruped Pedipulation
arXiv:2606.07506v1 Announce Type: new Abstract: The object manipulation capabilities of quadruped robots is an open research challenge. While previous studies have focused on low-level policy learning, task execution still relies on expert-designed high-level trajectories. Autonomous selection of both an affordable interaction point on the target object and an affordable robot base pose removes the need for pre-designed trajectories.
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Announce Type: replace Abstract: Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Similarly, legged robots need to develop their ability to stably walk on complex terrains by developing an understanding of the relationship between vision and proprioception. Most current terrain-adaptation methods remain susceptible to failure on complex off-road terrain because they...
Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control
arXiv:2605.26430v2 Announce Type: replace Abstract: Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different inclination and friction properties however poses unique challenges. To address these challenges, this paper presents an asynchronous decentralized task and motion planning approach for transporting...
SIMPLE: Simulation-Based Policy Learning and Evaluation for Humanoid Loco-manipulation
Announce Type: new Abstract: Humanoid foundation models are advancing faster than we can evaluate them. While real-world testing is expensive and difficult to reproduce, existing simulation benchmarks focus primarily on table-top or wheeled robots. A scalable and reproducible benchmark for whole-body humanoid loco-manipulation remains an open problem.