Robotics | Research

Robotics

Associated Publications

2024

RVT-2: Learning Precise Manipulation from Few Examples

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, Dieter Fox

2023

NOD-TAMP: Multi-Step Manipulation Planning with Neural Object Descriptors

Shuo Cheng, Caelan Garrett, Ajay Mandlekar, Danfei Xu

Workshop on effective Representations, Abstractions, and Priors for Robot Learn…

Oral presentation

Human-In-The-Loop Task and Motion Planning for Imitation Learning

Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox

RVT: Robotic View Transformer for 3D Object Manipulation

Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox

Conference on Robot Learning (CoRL) 2023

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

CoRL 2023 Workshop on Learning Effective Abstractions for Planning (LEAP)

Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning

Ryan Hoque, Ajay Mandlekar, Caelan Garrett, Ken Goldberg, Dieter Fox

First Workshop on Out-of-Distribution Generalization in Robotics at CoRL 2023

Imitating Task and Motion Planning with Visuomotor Transformers

Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

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

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

Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models

Wenhao Ding, Gerry Che, Ding Zhao, Marco Pavone

International Conference on Machine Learning (ICML)

Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox

Robotics: Science and Systems (RSS)

Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation

Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia Kavraki, Dieter Fox

RSS 2023 Workshop on Learning for Task and Motion Planning

StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects

Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton

Robotics: Science and Systems (RSS) 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

Robotics: Science and Systems (RSS) 2023

Affordance Diffusion: Synthesizing Hand-Object Interactions

Yufei Ye, Xueting Li, Abhinav Gupta, Shalini De Mello, Stan Birchfield, Jiaming Song, Shubham Tulsiani, Sifei Liu

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2023

Learning Human-to-Robot Handovers from Point Clouds

Sammy Christen, Wei Yang, Claudia Pérez D’Arpino , Otmar Hilliges, Dieter Fox, Yu-Wei Chao

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023

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

23 DoF Grasping Policies from a Raw Point Cloud

Martin Matak, Karl Van Wyk, Tucker Hermans

IEEE International Conference on Robotics and Automation (ICRA) Workshop on Geo…

Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers

Yixuan Huang, Adam Conkey, Tucker Hermans

IEEE International Conference on Robotics and Automation (ICRA)

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

https://arxiv.org/abs/2210.13702

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

IEEE International Conference on Robotics and Automation (ICRA) 2023

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

The International Conference on Robotics and Automation (ICRA)

FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments

Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang

IEEE International Conference on Robotics and Automation (ICRA) 2023

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

IEEE International Conference on Robotics and Automation (ICRA)

Global and Reactive Motion Generation with Geometric Fabric Command Sequences

Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan Ratliff, Fabio Ramos

IEEE International Conference on Robotics and Automation (ICRA) 2023

DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets

Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox

IEEE International Conference on Robotics and Automation (ICRA)

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

Robotics: Science and Systems

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

International Conference on Robotics and Automation (ICRA)

2022

Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch

Martin Matak, Tucker Hermans

IEEE Robotics and Automation Letters

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

The Conference on Robot Learning (CoRL) 2022

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

Conference on Robot Learning (CoRL), 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

RA-L / IROS 2022

Correcting Robot Plans with Natural Language Feedback

Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox

Robotics Science and Systems (RSS) 2022

Ifor: Iterative flow minimization for robotic object rearrangement

Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022

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

IEEE International Conference on Robotics and Automation (ICRA) 2022

Accelerated Policy Learning with Parallel Differentiable Simulation

Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin

International Conference on Learning Representations (ICLR) 2022

Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design

Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, Kris Kitani

International Conference on Learning Representations (ICLR) 2022 (Oral)

Model Predictive Control for Fluid Human-to-Robot Handovers

Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox

IEEE International Conference on Robotics and Automation (ICRA) 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

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

ICRA 2022

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

https://arxiv.org/abs/2203.02475

Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image

Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

ICRA 2022

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

ICRA 2022

2021

Interpreting and predicting tactile signals for the SynTouch BioTac

Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

International Journal of Robotics Research (IJRR) 2021

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

Conference on Robot Learning (CoRL) 2021

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

Conference on Robot Learning 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

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

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021

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

International Conference on Robotics and Automation (ICRA) 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)

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

SDG Workshop at ICLR 2021

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

ICRA 2021

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

RMPflow: A Computational Graph for Automatic Motion Policy Generation

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2018

Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies

Visak Kumar, Tucker Hermans, Dieter Fox, Stan Birchfield, Jonathan Tremblay

NeurIPS Workshop on Robot Learning

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

IEEE Transactions on Automation Science and Engineering (T-ASE)

Collaborative Interaction Models for Optimized Human-Robot Teamwork

Adam Fishman, Chris Paxton, Wei Yang, Nathan Ratliff, Byron Boots, Dieter Fox

International Conference on Intelligent Robots and Systems (IROS) 2020

Human Grasp Classification for Reactive Human-to-Robot Handovers

Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox

International Conference on Intelligent Robots and Systems (IROS), 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

IEEE Robotics and Automation Letters

Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints

Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Otmar Hilliges, Jan Kautz

European Conference on Computer Vision, 2020

OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation

Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg

Conference on Uncertainty in Artificial Intelligence (UAI) 2020

Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera

Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield

IROS 2020

Automated Synthetic-to-Real Generalization

Wuyang Chen, Zhiding Yu, Zhangyang Wang, Anima Anandkumar

International Conference on Machine Learning (ICML) 2020

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

IROS 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

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

2020 IEEE International Conference on Robotics and Automation (ICRA)

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

ICRA 2020

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

ICRA 2020

How to close sim-real gap? transfer with segmentation!

Mengyuan Yan, Qingyun Sun, Iuri Frosio, Stephen Tyree, Jan Kautz

arxiv

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

The International Symposium of Robotics Research (ISSR)

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

ICRA 2019

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

IEEE Robotics and Automation Letters

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Jonathan Tremblay, Thang To, Bala Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield

Conference on Robot Learning (CoRL) 2018

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

European Conference on Computer Vision (ECCV 2018)

Simultaneous Edge Alignment and Learning

Zhiding Yu, Weiyang Liu, Yang Zou, Chen Feng, Srikumar Ramalingam, B. V. K. Vijaya Kumar, Jan Kautz

European Conference on Computer Vision (ECCV) 2018

HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration

Ben Eckart, Kihwan Kim, Jan Kautz

European Conference on Computer Vision (ECCV 2018)

Domain Adaptation for Semantic Segmentation via Class-Balanced Self-Training

Yang Zou, Zhiding Yu, B. V. K. Vijaya Kumar, Jinsong Wang

European Conference on Computer Vision (ECCV) 2018

EOE: Expected Overlap Estimation over Unstructured Point Cloud Data

Ben Eckart, Kihwan Kim, Jan Kautz

International Conference on 3D Vision (3DV) 2018

Region Growing Curriculum Generation for Reinforcement Learning

Artem Molchanov, Karol Hausman, Stan Birchfield, Gaurav Sukhatme

arXiv

Geometry-Aware Learning of Maps for Camera Localization

Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz

CVPR 2018 (Spotlight)

Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation

Jonathan Tremblay, Thang To, Stan Birchfield

CVPR 2018 Workshop on Real World Challenges and New Benchmarks for Deep Learnin…

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox

Robotics: Science and Systems (RSS)

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

IEEE International Conference on Robotics and Automation (ICRA) 2018

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

On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach

Nikolai Smolyanskiy, Alexey Kamenev, Stan Birchfield

CVPR 2018 Workshop on Autonomous Driving

Riemannian Motion Policies

Nathan Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, Dieter Fox

2017

Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control

Mengyuan Yan, Iuri Frosio, Stephen Tyree, Jan Kautz

NIPS 2017 Workshop on Acting and Interacting in the Real World: Challenges in …

Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness

Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, Stan Birchfield

2016

Accelerated Generative Models for 3D Point Cloud Data

Ben Eckart, Kihwan Kim, Alejandro Troccoli, Alonzo Kelly, Jan Kautz

IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2016

Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

Shucheng Kang, Yuxiao Chen, Heng Yang, Marco Pavone

IEEE Conference on Decision and Control (CDC)

FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

Bowen Wen, Wei Yang, Jan Kautz, Stan Birchfield

Researchers

Arsalan Mousavian

Balakumar Sundaralingam

Benjamin Eckart

Claudia Pérez D’Arpino

Linxi "Jim" Fan

Jonathan Tremblay

Rowland O'Flaherty

Stan Birchfield