Clemens Eppner | Research

Clemens Eppner

Publications

2024

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation

Clemens Eppner, Adithya Murali, Caelan Garrett, Rowland O'Flaherty, Tucker Hermans, Wei Yang, Dieter Fox

The Journal of Open Source Software

DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability

Xiaolin Fang, Caelan Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Best Conference Paper Finalist, Best Student Paper Finalist

One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting

Albert Wu, Ruocheng Wang, Sirui Chen, Clemens Eppner, C Karen Liu

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2023

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

International Conference on Robotics and Automation (ICRA)

2022

Motion Policy Networks

Adam Fishman, Adithya Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox

Conference on Robot Learning (CoRL), 2022

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

IEEE Robotics and Automation Letters

2021

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

Clemens Eppner, Arsalan Mousavian, Dieter Fox

2021 IEEE International Conference on Robotics and Automation (ICRA)

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

2021 IEEE International Conference on Robotics and Automation (ICRA)

Object Rearrangement Using Learned Implicit Collision Functions

Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox

2020

6-DOF Grasping for Target-driven Object Manipulation in Clutter

Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox

Best Paper Finalist in Robot Manipulation, ICRA 2020, Best Student Paper Finalist, ICRA 2020

Self-supervised 6D Object Pose Estimation for Robot Manipulation

Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox

2020 IEEE International Conference on Robotics and Automation (ICRA)

2019

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation

Arsalan Mousavian, Clemens Eppner, Dieter Fox

A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set

Clemens Eppner, Arsalan Mousavian, Dieter Fox

The International Symposium of Robotics Research (ISSR)

Representing robot task plans as robust logical-dynamical systems

Chris Paxton, Clemens Eppner, Nathan Ratliff, Dieter Fox