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• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
  2021 · 55 citations
• Gradsim: Differentiable Simulation For System Identification And Visuomotor Control
  2021 · 43 citations
• GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning
  2018 · 17 citations
• DefGraspSim: Simulation-based grasping of 3D deformable objects
  2021 · 14 citations
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
  2025 · 3 citations
• Factory: Fast Contact for Robotic Assembly
  2022 · 3 citations
• DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
  2021 · 1 citations
• Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
  2022 · 1 citations
• Neural Robot Dynamics
  2025
• Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
  2018
• A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
  2019
• Non-Smooth Newton Methods for Deformable Multi-Body Dynamics
  2019
• Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
  2021
• DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
  2022
• DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects
  2022