| Isaac Gym: High performance GPU-based physics simulation for robot learning V Makoviychuk, L Wawrzyniak, Y Guo, M Lu, K Storey, M Macklin, ... Advances in Neural Information Processing Systems 2021 (NeurIPS) Datasets …, 2021 | 1699* | 2021 |
| DeXtreme: Transfer of agile in-hand manipulation from simulation to reality A Handa, A Allshire, V Makoviychuk, A Petrenko, R Singh, J Liu, ... ICRA 2023; arXiv preprint arXiv:2210.13702, 2022 | 217* | 2022 |
| Transferring Dexterous Manipulation from GPU simulation to a Remote Real-World Trifinger A Allshire, M Mittal, V Lodaya, V Makoviychuk, D Makoviichuk, F Widmaier, ... IROS 2022 (International Conference on Intelligent Robots and Systems, Kyoto …, 2021 | 93 | 2021 |
| LASER: Learning a Latent Action Space for Efficient Reinforcement Learning A Allshire, R Martín-Martín, C Lin, S Manuel, S Savarese, A Garg 2021 International Conference on Robotics and Automation (ICRA), 2021 | 81 | 2021 |
| Mujoco playground K Zakka, B Tabanpour, Q Liao, M Haiderbhai, S Holt, JY Luo, A Allshire, ... arXiv preprint arXiv:2502.08844, 2025 | 50 | 2025 |
| Dextrah-g: Pixels-to-action dexterous arm-hand grasping with geometric fabrics TGW Lum, M Matak, V Makoviychuk, A Handa, A Allshire, T Hermans, ... arXiv preprint arXiv:2407.02274, 2024 | 42 | 2024 |
| Symmetry considerations for learning task symmetric robot policies M Mittal, N Rudin, V Klemm, A Allshire, M Hutter 2024 IEEE International Conference on Robotics and Automation (ICRA), 7433-7439, 2024 | 33 | 2024 |
| Dextrah-rgb: Visuomotor policies to grasp anything with dexterous hands R Singh, A Allshire, A Handa, N Ratliff, K Van Wyk arXiv preprint arXiv:2412.01791, 2024 | 32 | 2024 |
| Visual Imitation Enables Contextual Humanoid Control A Allshire, H Choi, J Zhang, D McAllister, A Zhang, CM Kim, T Darrell, ... Conference on Robot Learning (CoRL) 2025, 2025 | 30 | 2025 |
| DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training A Petrenko, A Allshire, G State, A Handa, V Makoviychuk RSS 2023 (Robotics: Science and Systems 2023, Daegu, Republic of Korea), 2023 | 30 | 2023 |
| Real robot challenge: A robotics competition in the cloud S Bauer, M Wüthrich, F Widmaier, A Buchholz, S Stark, A Goyal, ... NeurIPS 2021 Competitions and Demonstrations Track, 190-204, 2022 | 24* | 2022 |
| Geometric fabrics: a safe guiding medium for policy learning K Van Wyk, A Handa, V Makoviychuk, Y Guo, A Allshire, ND Ratliff 2024 IEEE International Conference on Robotics and Automation (ICRA), 6537-6543, 2024 | 9 | 2024 |
| GaussGym: An open-source real-to-sim framework for learning locomotion from pixels A Escontrela, J Kerr, A Allshire, J Frey, R Duan, C Sferrazza, P Abbeel arXiv preprint arXiv:2510.15352, 2025 | 6 | 2025 |
| Real robot challenge 2022: Learning dexterous manipulation from offline data in the real world N Gürtler, F Widmaier, C Sancaktar, S Blaes, P Kolev, S Bauer, ... NeurIPS 2022 Competition Track, 133-150, 2023 | 6 | 2023 |
Ankur HandaPrincipal Scientist, NVIDIAVerified email at doc.ic.ac.uk
