Publications

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

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2020

“Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
Andrew Hundt, Benjamin Killeen, Nicholas Greene, Hongtao Wu, Heeyeon Kwon, Chris Paxton, Gregory D Hager
Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints
Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Otmar Hilliges, Jan Kautz
OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation
Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield
Automated Synthetic-to-Real Generalization
Wuyang Chen, Zhiding Yu, Zhangyang Wang, Anima Anandkumar
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
Ke Chen, Ryan Oldja, Nikolai Smolyanskiy, Stan Birchfield, Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl
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
Motion reasoning for goal-based imitation learning
De-An Huang, Yu-Wei Chao, Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox
Online replanning in belief space for partially observable task and motion problems
Caelan Garrett, Chris Paxton, Tomas Lozano-Perez, Leslie Kaebling, Dieter Fox
Self-supervised 6D Object Pose Estimation for Robot Manipulation
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox
Camera-to-Robot Pose Estimation from a Single Image
Timothy E. Lee, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, Stan Birchfield
Toward Sim-to-Real Directional Semantic Grasping
Shariq Iqbal, Jonathan Tremblay, Thang To, Jia Cheng, Erik Leitch, Andy Campbell, Kirby Leung, Duncan McKay, Stan Birchfield
How to close sim-real gap? transfer with segmentation!
Mengyuan Yan, Qingyun Sun, Iuri Frosio, Stephen Tyree, Jan Kautz
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

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
Representing robot task plans as robust logical-dynamical systems
Chris Paxton, Clemens Eppner, Nathan Ratliff, Dieter Fox
Putting Humans in a Scene: Learning Affordance in 3D Indoor Environments
Xueting Li, Sifei Liu, Kihwan Kim, Xiaolong Wang, Ming-Hsuan Yang, Jan Kautz
Robust Learning of Tactile Force Estimation through Robot Interaction
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox

2018

Fluidic Elastomer Actuators for Haptic Interactions in Virtual Reality
Jose Barreiros, Houston Claure, Bryan Peele, Omer Shapira, Josef Spjut, David Luebke, Malte Jung, Robert Shepherd
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
Jonathan Tremblay, Thang To, Bala Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
Learning Rigidity in Dynamic Scenes with a Moving Camera for 3D Motion Field Estimation
Zhaoyang Lv, Kihwan Kim, Alejandro Troccoli, Deqing Sun, James M. Rehg, Jan Kautz
Domain Adaptation for Semantic Segmentation via Class-Balanced Self-Training
Yang Zou, Zhiding Yu, B. V. K. Vijaya Kumar, Jinsong Wang
Simultaneous Edge Alignment and Learning
Zhiding Yu, Weiyang Liu, Yang Zou, Chen Feng, Srikumar Ramalingam, B. V. K. Vijaya Kumar, Jan Kautz
HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration
Ben Eckart, Kihwan Kim, Jan Kautz
EOE: Expected Overlap Estimation over Unstructured Point Cloud Data
Ben Eckart, Kihwan Kim, Jan Kautz
Region Growing Curriculum Generation for Reinforcement Learning
Artem Molchanov, Karol Hausman, Stan Birchfield, Gaurav Sukhatme
Geometry-Aware Learning of Maps for Camera Localization
Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz
Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation
Jonathan Tremblay, Thang To, Stan Birchfield
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox
Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
Jonathan Tremblay, Thang To, Artem Molchanov, Stephen Tyree, Jan Kautz, Stan Birchfield
A Variable Shape and Variable Stiffness Controller for Haptic Virtual Interactions
Benjamin C. Mac Murray, Bryan N. Peele, Patricia Xu, Josef Spjut, Omer Shapira, David Luebke, Robert F. Shepherd