Arth Shukla @arth_shukla
CS PhD student at @UCSanDiego | Robot learning, manipulation, vision, simulation | 2 Cat 2 Dad arth.website San Diego, CA Joined March 2018-
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The @RoboticsSciSys conference concluded and I’m amazed by the growing number of projects using the ManiSkill framework! Glad to see how we enable others’ research in robotics, some have been nominated/won best paper awards! I’ve highlighted a few of them in the thread below 🧵
#CVPR2025 PAMI-TC awards
🧠 Can a single robot policy control many, even unseen, robot bodies? We scaled training to 1000+ embodiments and found: More training bodies → better generalization to unseen ones. We call it: Embodiment Scaling Laws. A new axis for scaling. 🔗 embodiment-scaling-laws.github.io 🧵👇
Really cool mobile manip teleop in ManiSkill! So many cool SO-100 projects, feeling like I should get one for myself…
Really cool mobile manip teleop in ManiSkill! So many cool SO-100 projects, feeling like I should get one for myself…
Had a great time at #ICLR2025 last week! Met lots of new people, and Singapore was beautiful.
I’ll be at the robot learning workshop today and giving an oral talk at 9:15 AM on ManiSkill3 in rooms Garnet 216/217 at ICLR. Come see the crazy things you can do with fast sim+rendering like fast visual RL and zero-shot RGB sim2real! ManiSkill was also accepted at RSS!
Presenting ManiSkill-HAB today, a holistic benchmark for low-level manipulation in home rearrangement tasks! Stop by poster 28 at 3:00PM GMT+8 today (poster session 2) to chat about RL, manipulation, sim, and open source robotics!
🚀Excited to release PartField—a feedforward model that learns part-based feature fields for 3D shapes! It enables lightning-fast⚡️, robust, open-world hierarchical 3D part seg and unlocks cross-shape applications like co-seg and correspondence! 🔗shorturl.at/HnUmc 1/n
🤔 How to fine-tune an Imitation Learning policy (e.g., Diffusion Policy, ACT) with RL? As an RL practitioner, I’ve been struggling with this problem for a while. Here’s why it’s tough: 1️⃣ Special designs (usually for multimodal action distributions) in modern IL models make…
I'll be at #ICLR2025 next week to present ManiSkill-HAB. I work on the intersection of robot learning, ML/RL, and sim. If you'd like to meet up and chat, please let me know!
I'll be at #ICLR2025 next week to present ManiSkill-HAB. I work on the intersection of robot learning, ML/RL, and sim. If you'd like to meet up and chat, please let me know!
Can SAC achieve fast wall-time with GPU-parallelized sim? Can SAC beat PPO, the go-to RL algo for massively parallel envs? Yes! Using simple implementation tricks and tuning, SAC can match and beat tuned PPO+CudaGraphs baselines in ManiSkill wall-time: arthshukla.substack.com/p/speeding-up-…
ManiSkill3 accepted as an oral paper at the @iclr_conf robot learning workshop! See you all in Singapore🇸🇬, we have some cool demos demonstrating all the power of parallel rendering, heterogeneous sim and more! We will also update the arxiv with a v2 with some of these updates
ManiSkill3 accepted as an oral paper at the @iclr_conf robot learning workshop! See you all in Singapore🇸🇬, we have some cool demos demonstrating all the power of parallel rendering, heterogeneous sim and more! We will also update the arxiv with a v2 with some of these updates https://t.co/DcZIk2s44d
Excited to share that I’ll be joining @UCSanDiego for my PhD, advised by Professor Hao Su (@haosu_twitr)! Many thanks to everyone who helped me along my research journey so far — I’m looking forward to continuing research in robot learning, manipulation, and simulation!
Accepted to ICLR 2025! :D
🚀🤖 Top 10 Robot Learning Papers of 2024 is out!🔥 With 2 rounds of nominations & voting, plus 330+ individual votes, these standout papers shine across diverse categories: 1️⃣ π0: Vision-Language-Action Flow Model for General Robot Control 2️⃣ Closed-Loop Open-Vocabulary Mobile…
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