Ankur Handa

Publication Activity (10 Years)

Years Active: 2010-2024
Publications (10 Years): 60

Top Venues

CoRR

ICRA

CoRL

IROS

Imperial College London, UK (PHD)

Education History

Imperial College London, UK

PHD

Publications

Asad Ali Shahid, Yashraj S. Narang, Vincenzo Petrone, Enrico Ferrentino, Ankur Handa, Dieter Fox, Marco Pavone, Loris Roveda
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation. CoRR (2024)
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
Geometric Fabrics: a Safe Guiding Medium for Policy Learning. ICRA (2024)
Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj S. Narang
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries. CoRR (2024)
Karl Van Wyk, Ankur Handa, Viktor Makoviychuk, Yijie Guo, Arthur Allshire, Nathan D. Ratliff
Geometric Fabrics: a Safe Guiding Medium for Policy Learning. CoRR (2024)
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics. CoRR (2024)
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj S. Narang
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. ICRA (2023)
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
Imitating Task and Motion Planning with Visuomotor Transformers. CoRL (2023)
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. CoRR (2023)
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj S. Narang
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. Robotics: Science and Systems (2023)
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality. CoRR (2023)
Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training. Robotics: Science and Systems (2023)
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
Imitating Task and Motion Planning with Visuomotor Transformers. CoRR (2023)
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox
CuRobo: Parallelized Collision-Free Robot Motion Generation. ICRA (2023)
Aleksei Petrenko, Arthur Allshire, Gavriel State, Ankur Handa, Viktor Makoviychuk
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training. CoRR (2023)
Rika Antonova, Ankur Handa
Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation. AAMAS (2022)
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
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. CoRR (2022)
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger. IROS (2022)
Yashraj S. Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
Factory: Fast Contact for Robotic Assembly. CoRR (2022)
Mandy Xie, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan D. Ratliff, Karl Van Wyk
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration. CoRL (2022)
Yashraj S. Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Ádám Moravánszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
Factory: Fast Contact for Robotic Assembly. Robotics: Science and Systems (2022)
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
DexYCB: A Benchmark for Capturing Hand Grasping of Objects. CVPR (2021)
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
Sim2Real in Robotics and Automation: Applications and Challenges. IEEE Trans Autom. Sci. Eng. 18 (2) (2021)
Henry M. Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj S. Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations. CoRR (2021)
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
DexYCB: A Benchmark for Capturing Hand Grasping of Objects. CoRR (2021)
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger. CoRR (2021)
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning. NeurIPS Datasets and Benchmarks (2021)
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning. CoRR (2021)
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos
A User's Guide to Calibrating Robotics Simulators. CoRR (2020)
Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. CoRR (2020)
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots
Information Theoretic Model Predictive Q-Learning. L4DC (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. CoRR (2020)
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation. CoRR (2020)
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos
A User's Guide to Calibrating Robotic Simulators. CoRL (2020)
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System. ICRA (2020)
Ian Abraham, Ankur Handa, Nathan D. Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control. IEEE Robotics Autom. Lett. 5 (2) (2020)
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots
Information Theoretic Model Predictive Q-Learning. CoRR (2020)
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation. ICRA (2020)
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. ICRA (2019)
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact. CoRR (2019)
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System. CoRR (2019)
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
Learning Latent Space Dynamics for Tactile Servoing. ICRA (2019)
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact. IROS (2019)
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
Robust Learning of Tactile Force Estimation through Robot Interaction. ICRA (2019)
Josh Tobin, Lukas Biewald, Rocky Duan, Marcin Andrychowicz, Ankur Handa, Vikash Kumar, Bob McGrew, Alex Ray, Jonas Schneider, Peter Welinder, Wojciech Zaremba, Pieter Abbeel
Domain Randomization and Generative Models for Robotic Grasping. IROS (2018)
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
Robust Learning of Tactile Force Estimation through Robot Interaction. CoRR (2018)
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning. CoRR (2018)
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan D. Ratliff, Dieter Fox
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience. CoRR (2018)
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning. CoRL (2018)
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
Learning Latent Space Dynamics for Tactile Servoing. CoRR (2018)
John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
SemanticFusion: Dense 3D semantic mapping with convolutional neural networks. ICRA (2017)
Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang
Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery. CoRR (2017)
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation? ICCV (2017)
Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway
HDRFusion: HDR SLAM Using a Low-Cost Auto-Exposure RGB-D Sensor. 3DV (2016)
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
Understanding RealWorld Indoor Scenes with Synthetic Data. CVPR (2016)
Ankur Handa, Viorica Patraucean, Simon Stent, Roberto Cipolla
SceneNet: An annotated model generator for indoor scene understanding. ICRA (2016)
Ankur Handa, Michael Bloesch, Viorica Patraucean, Simon Stent, John McCormac, Andrew J. Davison
gvnn: Neural Network Library for Geometric Computer Vision. ECCV Workshops (3) (2016)
John McCormac, Ankur Handa, Andrew J. Davison, Stefan Leutenegger
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks. CoRR (2016)
John McCormac, Ankur Handa, Stefan Leutenegger, Andrew J. Davison
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth. CoRR (2016)
Shuda Li, Ankur Handa, Yang Zhang, Andrew Calway
HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor. CoRR (2016)
Ankur Handa, Michael Blösch, Viorica Patraucean, Simon Stent, John McCormac, Andrew J. Davison
gvnn: Neural Network Library for Geometric Computer Vision. CoRR (2016)
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
SceneNet: Understanding Real World Indoor Scenes With Synthetic Data. CoRR (2015)
Viorica Patraucean, Ankur Handa, Roberto Cipolla
Spatio-temporal video autoencoder with differentiable memory. CoRR (2015)
Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla
SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes. CoRR (2015)
Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla
SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling. CoRR (2015)
Ping-Lin Chang, Ankur Handa, Andrew J. Davison, Danail Stoyanov, Philip J. Edwards
Robust Real-Time Visual Odometry for Stereo Endoscopy Using Dense Quadrifocal Tracking. IPCAI (2014)
Hanme Kim, Ankur Handa, Ryad Benosman, Sio-Hoi Ieng, Andrew J. Davison
Simultaneous Mosaicing and Tracking with an Event Camera. BMVC (2014)
Ankur Handa, Thomas Whelan, John McDonald, Andrew J. Davison
A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM. ICRA (2014)
Ankur Handa, Richard A. Newcombe, Adrien Angeli, Andrew J. Davison
Real-Time Camera Tracking: When is High Frame-Rate Best? ECCV (7) (2012)
Ankur Handa, Margarita Chli, Hauke Strasdat, Andrew J. Davison
Scalable active matching. CVPR (2010)

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Publication Activity (10 Years)

Top Topics

Top Venues

Ankur Handa