DART Use Cases

Software

Thumbnail	Software
	Gazebo Gazebo simulates multipe robots in a 3D environment, with extensive dynamic integration between objects. Gazebo supports multiple physics engines: ODE, Bullet, DART, and Simbody. website, source on bitbucket
	PyDART2 PyDART2 is an open source python binding of DART, an open source physics simulator. Its APIs are designed to provide concise and powerful control on DART physics worlds. Further, a user can write simulations with a numerous python scientific libraries, such as NumPy(linear algebra), SciPy(optimization), scikit-learn (machine learning), PyBrain(machine learning), and so on. (website)
	AIKIDO a C++ library, complete with Python bindings, for solving robotic motion planning and decision making problems. This library is tightly integrated with DART for kinematic/dynamics calculations and OMPL for motion planning.
	libcozmo C++ library for simulating and running Cozmo based on DART and AIKIDO
	robot_dart A generic and lightweight wrapper over DART simulator for fast and flexible robot simulations.

Academic Research

This is a curated list of research publications using DART. More research papers cited DART can be found at Google Scholar.

Thumbnail	Papers
	Chatzilygeroudis, K., & Mouret, J. B. (2018). Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics. Proceedings of the International Conference on Robotics and Automation (ICRA).
	Pautrat, R., Chatzilygeroudis, K., & Mouret, J.-B. (2018). Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search. Proceedings of the International Conference on Robotics and Automation (ICRA).
	Supratik P., Chatzilygeroudis K., Ciosek K., Mouret JB., Osborne M., and Whiteson Sh. (2018). Alternating Optimisation and Quadrature for Robust Control. Proceedings of AAAI Conference on Artificial Intelligence.
	Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.-B. (2017). Reset-free Trial-and-Error Learning for Robot Damage Recovery. Robotics and Autonomous Systems.
	Data-Driven Approach to Simulating Realistic Human Joint Constraints, Yifeng Jiang and C. Karen Liu , Preprint, 2017 arXiv
	Multi-task Learning with Gradient Guided Policy Specialization, Wenhao Yu, Greg Turk, and C. Karen Liu , Preprint, 2017 arXiv
	Learning Human Behaviors for Robot-Assisted Dressing, Alexander Clegg, Wenhao Yu, Jie Tan, Charlie C. Kemp, Greg Turk, and C. Karen Liu , Preprint, 2017 arXiv
	Expanding Motor Skills through Relay Neural Networks, Visak C.V. Kumar, Sehoon Ha, and C. Karen Liu, Preprint, 2017 arXiv
	Stair negotiation made easier using novel interactive energy-recycling assistive stairs, Yun Seong Song, Sehoon Ha, Hsiang Hsu, Lena H. Ting, and C. Karen Liu, in PLOS ONE, 2017 link
	Learning a Unified Control Policy for Safe Falling, Visak C.V. Kumar, Sehoon Ha, and C. Karen Liu, Preprint, 2017 arXiv
	Learning to Navigate Cloth using Haptics, Alexander Clegg, Wenhao Yu, Zackory Erickson, Jie Tan, C. Karen Liu, and Greg Turk, Preprint, 2017 arXiv
	Preparing for the Unknown: Learning a Universal Policy with Online System Identification, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk, Preprint, 2017 arXiv
	Vassiliades V., Chatzilygeroudis K., and Mouret JB. (2016). Using centroidal voronoi tessellations to scale up the multi-dimensional archive of phenotypic elites algorithm. IEEE Transactions on Evolutionary Computation.
	A Linear-Time Variational Integrator for Multibody Systems, Jeongseok Lee, C. Karen Liu, Frank C. Park, and Siddhartha S. Srinivasa, Preprint, 2016 arXiv
	Simulation-Based Design of Dynamic Controllers for Humanoid Balancing, Jie Tan, Zhaoming Xie, Byron Boots, and C. Karen Liu, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016 PDF
	Humanoid Manipulation Planning using Backward-Forward Search, Michael X. Grey, Caelan R. Garrett, C. Karen Liu, Aaron D. Ames, and Andrea L. Thomaz, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016 PDF Video
	Evolutionary Optimization for Parameterized Whole-body Dynamic Motor Skills, Sehoon Ha and C. Karen Liu, in IEEE International Conference on Robotics and Automation (ICRA) 2016 PDF Video
	Dexterous Manipulation of Cloth, Yunfei Bai, Wenhao Yu (co-first author), and C. Karen Liu, in Computer Graphics Forum (Eurographics), 2016 PDF Video
	Multiple Contact Planning for Minimizing Damage of Humanoid Falls, Sehoon Ha and C. Karen Liu, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
	Animating Human Dressing, Alex Clegg, Jia Tan, Greg Turk, and C. Karen Liu, in Transactions on Graphics (SIGGRAPH), 2015
	Coupling Cloth and Rigid Bodies for Dexterous Manipulation, Yunfei Bai and C. Karen Liu, in Motion in Games, 2014 (Best Student Paper Award)
	Orienting in Mid-air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact after a Fall, Jeffrey T. Bingham, Jeongseok Lee, Ravi N. Haksar, Jun Ueda, and C. Karen Liu, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
	Dexterous Manipulation Using Both Palm and Fingers, Yunfei Bai and C. Karen Liu, in IEEE International Conference on Robotics and Automation, 2014
	Synthesis of Concurrent Object Manipulation Tasks, Yunfei Bai, Kristin Siu and C. Karen Liu, in ACM Transactions on Graphics (presented at SIGGRAPH Asia), 2012