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

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2023

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox
Affordance Diffusion: Synthesizing Hand-Object Interactions
Yufei Ye, Xueting Li, Abhinav Gupta, Shalini De Mello, Stan Birchfield, Jiaming Song, Shubham Tulsiani, Sifei Liu
Learning Human-to-Robot Handovers from Point Clouds
Sammy Christen, Wei Yang, Claudia Pérez D’Arpino , Otmar Hilliges, Dieter Fox, Yu-Wei Chao
Highlight
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield
Deep Learning Approaches to Grasp Synthesis: A Review
Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, Dieter Fox, Akansel Cosgun
23 DoF Grasping Policies from a Raw Point Cloud
Martin Matak, Karl Van Wyk, Tucker Hermans
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg
CuRobo: Parallelized Collision-Free Robot Motion Generation
Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox
Global and Reactive Motion Generation with Geometric Fabric Command Sequences
Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan Ratliff, Fabio Ramos
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A. Vela, Stan Birchfield
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles Loop, Alexander Schwing, Stan Birchfield
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

2022

Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch
Martin Matak, Tucker Hermans
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, et al.
Motion Policy Networks
Adam Fishman, Adithya Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox
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