Robotics Papers — 2021

3 papers with open-source code, published in 2021.

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Isaac Gym: High Performance GPU-Based Physics Simulation for Robot Learning

Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo et al. · NeurIPS 2021 Datasets and Benchmarks Track · Dec 2021

A GPU-accelerated physics simulation framework that enables thousands of RL environments to run in parallel on a single GPU, eliminating CPU-GPU transfer bottlenecks.

simulation rl gpu-acceleration parallel-training

Code PDF Intermediate

GitHub ★ 2,934 Code updated: May 2026

CLIPort: What and Where Pathways for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox · CoRL 2021 · Nov 2021

CLIPort fuses CLIP's semantic understanding with Transporter Networks' spatial precision to perform language-conditioned manipulation tasks like 'stack the red block on the blue block' with 2D pick-and-place affordances.

foundation-models manipulation il

Code PDF Beginner

GitHub ★ 546 Code updated: May 2026

iGibson: Interactive Gibson Benchmark for Real-World Navigation and Manipulation

Bokui Shen, Fei Xia, Chengshu Li et al. · ICRA 2021 · May 2021

iGibson is a photorealistic, physics-based indoor simulation platform with 15 interactive scenes, 500+ object categories, and GPU-accelerated rendering, enabling RL and VLA training for mobile manipulation and embodied AI.

sim-to-real rl foundation-models

Code PDF Intermediate

GitHub ★ 806 Code updated: May 2026