Publications

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

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2024

Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Garrett, Ken Goldberg, Dieter Fox
Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning
Jishnu Jaykumar P, Kamalesh Palanisamy, Yu-Wei Chao, Xinya Du, Yu Xiang
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
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

2023

HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
Andrew Guo, Bowen Wen, Jianhe Yuan, Jonathan Tremblay, Stephen Tyree, Jeff Smith, Stan Birchfield
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
Yu-Shun Hsiao, Siva Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Steve Keckler, Vijay Janapa Reddi
Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility
Kai-Chieh Hsu, Karen Leung, Yuxiao Chen, Jaime Fernandez Fisac, Marco Pavone

2022

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
Stephen Tyree, Jonathan Tremblay, Stan Birchfield, et al.

2021

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

2020

Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
Ke Chen, Ryan, Nikolai, Stan Birchfield, Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl

2017

Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness
Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, Stan Birchfield