Publications

Our publications provide insight into some of our leading-edge research.

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2022

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
Stephen Tyree, Jonathan Tremblay, Stan Birchfield, et al.
Learning Perceptual Concepts by Bootstrapping from Human Queries
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Correcting Robot Plans with Natural Language Feedback
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
Ifor: Iterative flow minimization for robotic object rearrangement
Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithya Murali, Maya Cakmak, Dieter Fox
Accelerated Policy Learning with Parallel Differentiable Simulation
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design
Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, Kris Kitani
Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nister, Nikolai Smolyanskiy
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian Williams
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

2021

Interpreting and predicting tactile signals for the SynTouch BioTac
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
Selected for Oral Presentation
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
Joint Space Control via Deep Reinforcement Learning
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
Multi-View Fusion for Multi-Level Robotic Scene Understanding
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Clemens Eppner, Arsalan Mousavian, Dieter Fox
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
Fast Uncertainty Quantification for Deep Object Pose Estimation
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Anima Anandkumar, Yuke Zhu
NViSII: A Scriptable Tool for Photorealistic Image Generation
Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox
Reactive Human-to-Robot Handovers of Arbitrary Objects
Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Best Paper in Human-Robot Interaction, ICRA 2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, Dieter Fox
Object Rearrangement Using Learned Implicit Collision Functions
Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox
Transferable Task Execution from Pixels through Deep Planning Domain Learning
Kei Kase, Chris Paxton, Hammad Mazhar, Tetsuya Ogata, Dieter Fox

2020

Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
Visak Kumar, Tucker Hermans, Dieter Fox, Stan Birchfield, Jonathan Tremblay
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff