GRADE: Generating Realistic And Dynamic Environments for Robotics Research with Isaac Sim

Description

Synthetic data and novel rendering techniques have greatly influenced computer vision research in tasks like target tracking and human pose estimation. However, robotics research has lagged behind in leveraging it due to the limitations of most simulation frameworks, including the lack of low-level software control and flexibility, Robot Operating System integration, realistic physics, or photorealism. This hindered progress in (visual-)perception research, e.g. in autonomous robotics, especiall

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