## Robotics

 ### Associated Publications

 

### 2026 

[ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning](/publication/2026-06_reinforcegen-hybrid-skill-policies-automated-data-generation-and-reinforcement)

Zihan Zhou, Animesh Garg, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett)



[ICRA 2026 Workshop on Reinforcement Learning in the Era of Imitation Learning](https://openreview.net/forum?id=OhKdguKXBi)









[ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling](/publication/2026-06_schedulestream-temporal-planning-samplers-gpu-accelerated-multi-arm-task-and)

[Caelan Garrett](/person/caelan-garrett), [Fabio Ramos](/person/fabio-ramos)



[IEEE International Conference on Robotics & Automation (ICRA)](https://arxiv.org/abs/2511.04758)









[HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning](/publication/2026-06_humanoidmimicgen-data-generation-loco-manipulation-whole-body-planning)

Kevin Lin, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), [Nikita Cherniadev](/person/nikita-cherniadev), [Yu Fang](/person/yu-fang), [Runyu Ding](/person/runyu-ding), [Yuqi Xie](/person/yuqi-xie), Justin Tran, [Linxi "Jim" Fan](/person/linxi-jim-fan), [Yuke Zhu](/person/yuke-zhu)



[ICRA 2026 Workshop on Synthetic Data for Robot Learning](https://openreview.net/forum?id=ekzk7TSLKr)



Best Workshop Paper Finalist





[Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints](/publication/2026-01_open-world-task-and-motion-planning-vision-language-model-inferred-constraints)

Nishanth Kumar, William Shen, [Fabio Ramos](/person/fabio-ramos), Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, [Caelan Garrett](/person/caelan-garrett)



[IEEE Robotics and Automation Letters (RA-L)](https://arxiv.org/abs/2411.08253)









### 2025 

[ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning](/publication/2025-12_thinkact-vision-language-action-reasoning-reinforced-visual-latent-planning)

[Chi-Pin Huang](/person/chi-pin-huang), Yueh-Hua Wu, [Min-Hung Chen](/person/min-hung-chen), [Frank Wang](/person/frank-wang), [Fred Yang](/person/fred-yang)



[Neural Information Processing Systems (NeurIPS) 2025](https://arxiv.org/pdf/2507.16815)









[Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training](/publication/2025-12_generalizable-domain-adaptation-sim-and-real-policy-co-training)

Shuo Cheng, Liqian Ma, Zhenyang Chen, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), [Danfei Xu](/person/danfei-xu)



[Conference on Neural Information Processing Systems (NeuRIPS)](https://arxiv.org/abs/2509.18631)









[Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification](/publication/2025-11_do-what-you-say-steering-vision-language-action-models-runtime-reasoning-action)

Yilin Wu, [Anqi Li](/person/anqi-li), [Tucker Hermans](/person/tucker-hermans), [Fabio Ramos](/person/fabio-ramos), Andrea Bajcs, [Claudia Pérez D’Arpino ](/person/cdarpino)



<https://arxiv.org/abs/2510.16281>









[The Reality Gap in Robotics: Challenges, Solutions, and Best Practices](/publication/2025-10_reality-gap-robotics-challenges-solutions-and-best-practices)

Elie Aljalbout, Jiaxu Xing, Angel Romero, [Iretiayo Akinola](/person/iretiayo-akinola), [Caelan Garrett](/person/caelan-garrett), Eric Heiden, Abhishek Gupta, [Tucker Hermans](/person/tucker-hermans), [Yashraj Narang](/person/yashraj-narang), Dieter Fox, Davide Scaramuzza, [Fabio Ramos](/person/fabio-ramos)



[Annual Review of Control, Robotics, and Autonomous Systems 2026](https://arxiv.org/abs/2510.20808)









[ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation](/publication/2025-10_acgd-visual-multitask-policy-learning-asymmetric-critic-guided-distillation)

Krishnan Srinivasan, [Jie Xu](/person/jie-xu), Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025](https://www.iros25.org/)









[Isaac Lab: A GPU Accelerated Simulation Framework For Multi-Modal Robot Learning](/publication/2025-09_isaac-lab-gpu-accelerated-simulation-framework-multi-modal-robot-learning)

Mayank Mittal, Kelly Guo, Gavriel State, Spencer Huang













[World Simulation With Video Foundation Models for Physical AI](/index.php/publication/2025-09_world-simulation-video-foundation-models-physical-ai)

[Ming-Yu Liu](/index.php/person/ming-yu-liu), 













[Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation](/publication/2025-09_sim2val-leveraging-correlation-across-test-platforms-variance-reduced-metric)

[Rachel Luo](/person/rachel-luo), [Heng Yang](/person/heng-yang), [Michael Watson](/person/michael-watson), [Apoorva Sharma](/person/apoorva-sharma), [Sushant Veer](/person/sushant-veer), Edward Schmerling, [Marco Pavone](/person/marco-pavone)













[VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](/publication/2025-09_vt-refine-learning-bimanual-assembly-visuo-tactile-feedback-simulation-fine)

Binghao Huang, [Jie Xu](/person/jie-xu), [Iretiayo Akinola](/person/iretiayo-akinola), [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Rowland O'Flaherty](/person/rowland-oflaherty), Dieter Fox, Xiaolong Wang, Arsalan Mousavian, [Yu-Wei Chao](/person/yu-wei-chao), Yunzhu Li



[Conference on Robot Learning (CoRL) 2025](https://www.corl.org)









[RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies](/publication/2025-09_roboarena-distributed-real-world-evaluation-generalist-robot-policies)

Pranav Atreya, Karl Pertsch, Tony Lee, Moo Jin Kim, Arhan Jain, Artur Kuramshin, Clemens Eppner, Cyrus Neary, Edward Hu, [Fabio Ramos](/person/fabio-ramos), [Jonathan Tremblay](/person/jonathan-tremblay), Kanav Arora, Kirsty Ellis, Luca Macesanu, Marcel Torne Villasevil, Matthew Leonard, Meedeum Cho, Ozgur Aslan, Shivin Dass, Jie Wang, William Reger, Xingfang Yuan, [Xuning Yang](/person/xuning-yang), Abhishek Gupta, Dinesh Jayaraman, Glen Berseth, Kostas Daniilidis, Roberto Martin-Martin, Youngwoon Lee, Percy Liang, Chelsea Finn, Sergey Levine



[CoRL 2025](https://arxiv.org/abs/2506.18123)









[Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration](/publication/2025-09_dexplore-scalable-neural-control-dexterous-manipulation-reference-scoped)

Sirui Xu, [Yu-Wei Chao](/person/yu-wei-chao), Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liang-Yan Gui, [Wei Yang](/person/wei-yang)



[Conference on Robot Learning (CoRL) 2025](https://www.corl.org)









[Neural Robot Dynamics](/publication/2025-09_neural-robot-dynamics)

[Jie Xu](/person/jie-xu), Eric Heiden, [Iretiayo Akinola](/person/iretiayo-akinola), Dieter Fox, Miles Macklin, [Yashraj Narang](/person/yashraj-narang)



[Conference on Robot Learning (CoRL) 2025](https://www.corl.org/)









[Learning to Plan &amp; Schedule with Reinforcement-Learned Bimanual Robot Skills](/publication/2025-09_learning-plan-schedule-reinforcement-learned-bimanual-robot-skills)

Weikang Wan, [Fabio Ramos](/person/fabio-ramos), [Xuning Yang](/person/xuning-yang), [Caelan Garrett](/person/caelan-garrett)



[CoRL 2025 Workshop on Learning Effective Abstractions for Planning (LEAP)](https://openreview.net/forum?id=HoyzrI5xD8)









[Robot policy evaluation for sim-to-real transfer: A benchmarking perspective](/publication/2025-06_robot-policy-evaluation-sim-real-transfer-benchmarking-perspective)

[Xuning Yang](/person/xuning-yang), Clemens Eppner, [Jonathan Tremblay](/person/jonathan-tremblay), Dieter Fox, [Stan Birchfield](/person/stan-birchfield), [Fabio Ramos](/person/fabio-ramos)



[RSS 2025 Workshop on Robot Evaluations](https://sites.google.com/stanford.edu/robot-evaluation-rss-2025/home)









[Towards a VLM Benchmark for Simulated Robotics](/index.php/publication/2025-06_towards-vlm-benchmark-simulated-robotics)

[Xuning Yang](/index.php/person/xuning-yang), Clemens Eppner, [Valts Blukis](/index.php/person/valts-blukis), [Peter Belcak](/index.php/person/peter-belcak), [Stephen Tyree](/index.php/person/stephen-tyree), [Stan Birchfield](/index.php/person/stan-birchfield), [Fabio Ramos](/index.php/person/fabio-ramos), [Jonathan Tremblay](/index.php/person/jonathan-tremblay)



[RSS 2025 Workshop on Large Foundation Models for Interactive Robot Learning](https://lfmrss2025.weebly.com/)









[FoundationStereo: Zero-Shot Stereo Matching](/publication/2025-06_foundationstereo-zero-shot-stereo-matching)

[Bowen Wen](/person/bowen-wen), Matthew Trepte, Joseph Aribido, [Jan Kautz](/person/jan-kautz), Orazio Gallo, [Stan Birchfield](/person/stan-birchfield)



[CVPR 2025](https://cvpr.thecvf.com/)



Best Paper Nomination





[RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics](/publication/2025-06_robospatial-teaching-spatial-understanding-2d-and-3d-vision-language-models)

Chan Hee Song, [Valts Blukis](/person/valts-blukis), [Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), Yu Su, [Stan Birchfield](/person/stan-birchfield)



[CVPR 2025](https://cvpr.thecvf.com/)









[Inference-Time Policy Steering through Human Interactions](/index.php/publication/2025-05_inference-time-policy-steering-through-human-interactions)

Yanwei Wang, Lirui Wang, Yilun Du, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Xuning Yang](/index.php/person/xuning-yang), [Yu-Wei Chao](/index.php/person/yu-wei-chao), [Claudia Pérez D’Arpino ](/index.php/person/cdarpino), Dieter Fox, Julie Shah



[IEEE ICRA 2025](https://arxiv.org/pdf/2411.16627)









[TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation](/publication/2025-05_twin-two-handed-intelligent-benchmark-bimanual-manipulation)

Markus Grotz, Mohit Shridhar, [Yu-Wei Chao](/person/yu-wei-chao), Tamim Asfour, Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA) 2025](https://2025.ieee-icra.org)









[SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation](/publication/2025-05_spot-se3-pose-trajectory-diffusion-object-centric-manipulation)

Cheng-Chun Hsu, [Bowen Wen](/person/bowen-wen), [Jie Xu](/person/jie-xu), [Yashraj Narang](/person/yashraj-narang), , [Yuke Zhu](/person/yuke-zhu), Joydeep Biswas, [Stan Birchfield](/person/stan-birchfield)



[ICRA 2025](https://2025.ieee-icra.org/)









[Latent Action Pretraining from Videos](/publication/2025-04_latent-action-pretraining-videos)

Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, [Ajay Mandlekar](/person/ajay-mandlekar), Reuben Tan, [Yu-Wei Chao](/person/yu-wei-chao), Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo



[International Conference on Learning Representations (ICLR) 2025](https://iclr.cc/Conferences/2025)









[Aim My Robot: Precision Local Navigation to Any Object](/publication/2025-04_aim-my-robot-precision-local-navigation-any-object)

Xiangyun Meng, [Xuning Yang](/person/xuning-yang), Sanghun Jung, [Fabio Ramos](/person/fabio-ramos), Sri Sadhan Jujjavarapu, Sanjoy Paul, Dieter Fox



[IEEE Robotics and Automation Letters (R-AL)](https://ieeexplore.ieee.org/document/10887329)









[Cosmos-Reason 1: From Physical AI Common Sense to Embodied Decisions](/publication/2025-03_cosmos-reason-1-physical-ai-common-sense-embodied-decisions)

[Tsung-Yi Lin](/person/tsung-yi-lin), [Ming-Yu Liu](/person/ming-yu-liu)













[Cosmos Transfer 1: World-to-World Transfer with Adaptive Multi-Control for Physical AI](/index.php/publication/2025-03_cosmos-transfer-1-world-world-transfer-adaptive-multi-control-physical-ai)

[Ming-Yu Liu](/index.php/person/ming-yu-liu)



[Arxiv](https://arxiv.org/abs/2503.14492)









[NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots](/publication/2025-03_nvidia-isaac-gr00t-n1-open-foundation-model-humanoid-robots)

[Yuke Zhu](/person/yuke-zhu), [Linxi "Jim" Fan](/person/linxi-jim-fan), NVIDIA GEAR Team













[Principles and guidelines for evaluating social robot navigation algorithms](/publication/2025-02_principles-and-guidelines-evaluating-social-robot-navigation-algorithms)

Anthony Francis*, [Claudia Pérez D’Arpino\*](/person/cdarpino), CHENGSHU LI, FEI XIA, ALEXANDRE ALAHI, RACHID ALAMI, ANIKET BERA, ABHIJAT BISWAS, JOYDEEP BISWAS, ROHAN CHANDRA, HAO-TIEN LEWIS CHIANG, MICHAEL EVERETT, SEHOON HA, JUSTIN HART, JONATHAN P. HOW, HARESH KARNAN, TSANG-WEI EDWARD LEE, LUIS J. MANSO, REUTH MIRSKY, SÖREN PIRK, PHANI TEJA SINGAMANENI, PETER STONE, ADA V. TAYLOR, PETER TRAUTMAN, NATHAN TSOI, MARYNEL VÁZQUEZ, XUESU XIAO, PENG XU, NAOKI YOKOYAMA, ALEXANDER TOSHEV, ROBERTO MARTÍN-MARTÍN



[ACM Transactions on Human-Robot Interaction](https://dl.acm.org/doi/full/10.1145/3700599)









[Cosmos World Foundation Model Platform for Physical AI](/publication/2025-01_cosmos-world-foundation-model-platform-physical-ai)

[Ming-Yu Liu](/person/ming-yu-liu), Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf, [Jing Zhang](/person/jing-zhang)













[TacSL: A Library for Visuotactile Sensor Simulation and Learning](/publication/2025-01_tacsl-library-visuotactile-sensor-simulation-and-learning)

[Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), Jan Carius, Dieter Fox, [Yashraj Narang](/person/yashraj-narang)



[IEEE Transactions on Robotics (T-RO)](https://www.ieee-ras.org/publications/t-ro)









### 2024 

[FactorSim: Generative Simulation via Factorized Representation](/index.php/publication/2024-12_factorsim-generative-simulation-factorized-representation)

Fan-Yun Sun, S. I. Harini, Angela Yi, Yihan Zhou, [Alex Zook](/index.php/person/alex-zook), [Jonathan Tremblay](/index.php/person/jonathan-tremblay), Logan Cross, Jiajun Wu, Nick Haber



[NeurIPS 2024](https://neurips.cc/Conferences/2024)









[Diffusion-Reward Adversarial Imitation Learning](/publication/2024-12_diffusion-reward-adversarial-imitation-learning)

Chun-Mao Lai, Hsiang-Chun Wang, Ping-Chun Hsieh, [Frank Wang](/person/frank-wang), [Min-Hung Chen](/person/min-hung-chen), Shao-Hua Sun



[Neural Information Processing Systems (NeurIPS)](https://neurips.cc/Conferences/2024)









[AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent](/publication/2024-12_adademo-data-efficient-demonstration-expansion-generalist-robotic-agent)

Tongzhou Mu, [Yijie Guo](/person/yijie-guo), [Jie Xu](/person/jie-xu), [Ankit Goyal](/person/ankit-goyal), Hao Su, Dieter Fox, Animesh Garg



[The International Foundation of Robotics Research (ISRR) 2024](https://isrr2024.su.domains/)









[MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting](/publication/2024-12_maskedmimic-unified-physics-based-character-control-through-masked-motion)

[Chen Tessler](/person/chen-tessler), Kelly Guo, Ofir Nabati, [Gal Chechik](/person/gal-chechik), Jason Peng



[SIGGRAPH Asia 2024](https://research.nvidia.com/labs/par/maskedmimic/)









[Experimental Assessment of Human-Robot Teaming for Multi-Step Remote Manipulation with Expert Operators](/publication/2024-12_experimental-assessment-human-robot-teaming-multi-step-remote-manipulation)

[Claudia Pérez D’Arpino ](/person/cdarpino), Rebecca P. Khurshid, Julie A. Shah



<https://dl.acm.org/doi/10.1145/3618258>









[Fast Explicit-Input Assistance for Teleoperation in Clutter](/publication/2024-11_fast-explicit-input-assistance-teleoperation-clutter)

Nick Walker, [Xuning Yang](/person/xuning-yang), Animesh Garg, Maya Cakmak, Dieter Fox, [Claudia Pérez D’Arpino ](/person/cdarpino)



[2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10802138)









[Differentiable GPU-Parallelized Task and Motion Planning](/publication/2024-11_differentiable-gpu-parallelized-task-and-motion-planning)

William Shen, [Caelan Garrett](/person/caelan-garrett), Nishanth Kumar, [Ankit Goyal](/person/ankit-goyal), [Tucker Hermans](/person/tucker-hermans), Leslie Pack Kaelbling, Tomás Lozano-Pérez, [Fabio Ramos](/person/fabio-ramos)



[Robotics: Science and Systems (RSS)](https://www.roboticsproceedings.org/rss21/p050.html)









[SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment](/publication/2024-11_skillgen-automated-demonstration-generation-efficient-skill-learning-and)

[Caelan Garrett](/person/caelan-garrett), [Ajay Mandlekar](/person/ajay-mandlekar), [Bowen Wen](/person/bowen-wen), Dieter Fox



[Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=YOFrRTDC6d)









[NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors](/publication/2024-11_nod-tamp-generalizable-long-horizon-planning-neural-object-descriptors)

Shuo Cheng, [Caelan Garrett](/person/caelan-garrett), [Ajay Mandlekar](/person/ajay-mandlekar), [Danfei Xu](/person/danfei-xu)



[ Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=rThtgkXuvZ)









[SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation](/publication/2024-11_spire-synergistic-planning-imitation-and-reinforcement-learning-long-horizon)

Zihan Zhou, Animesh Garg, Dieter Fox, [Caelan Garrett](/person/caelan-garrett), [Ajay Mandlekar](/person/ajay-mandlekar)



[Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=cvUXoou8iz)









[HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation](/publication/2024-11_hamster-hierarchical-action-models-open-world-robot-manipulation)

Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, [Caelan Garrett](/person/caelan-garrett), [Fabio Ramos](/person/fabio-ramos), Dieter Fox, [Anqi Li](/person/anqi-li), Abhishek Gupta, [Ankit Goyal](/person/ankit-goyal)



[International Conference on Learning Representations (ICLR)](https://openreview.net/forum?id=xZ6ZrbpBRp)









[Guiding Long-Horizon Task and Motion Planning with Vision Language Models](/publication/2024-11_guiding-long-horizon-task-and-motion-planning-vision-language-models)

Zhutian Yang, [Caelan Garrett](/person/caelan-garrett), Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling



[IEEE International Conference on Robotics &amp; Automation (ICRA)](https://arxiv.org/abs/2410.02193)









[Constructability-driven design of frame structures with state-space search methods](/publication/2024-11_constructability-driven-design-frame-structures-state-space-search-methods)

Yijiang Huang, [Caelan Garrett](/person/caelan-garrett), Caitlin Mueller



[Automation in Construction](https://www.sciencedirect.com/science/article/abs/pii/S0926580524004473)









[Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning](/publication/2024-10_interventional-data-generation-robust-and-data-efficient-robot-imitation)

Ryan Hoque, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), Ken Goldberg, Dieter Fox



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://arxiv.org/abs/2405.01472)









[Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning](/publication/2024-10_proto-clip-vision-language-prototypical-network-few-shot-learning)

Jishnu Jaykumar P, Kamalesh Palanisamy, [Yu-Wei Chao](/person/yu-wei-chao), Xinya Du, Yu Xiang



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024](https://iros2024-abudhabi.org)









[DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability](/publication/2024-10_dimsam-diffusion-models-samplers-task-and-motion-planning-under-partial)

Xiaolin Fang, [Caelan Garrett](/person/caelan-garrett), Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://arxiv.org/abs/2306.13196)



 Best Conference Paper Finalist, Best Student Paper Finalist





[Learning to Move Like Professional Counter-Strike Players](/publication/2024-09_learning-move-professional-counter-strike-players)

David Durst, F. Xie, V. Sarukkai, Brennan Shacklett, [Iuri Frosio](/person/iuri-frosio), [Chen Tessler](/person/chen-tessler), [Joohwan Kim](/person/joohwan-kim), C. Taylor, G. Bernstein, S. Choudhury, P. Hanrahan,, Kayvon Fatahalian



[The 23rd ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA 2024)](https://computeranimation.org/program.html)









[Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation](/publication/2024-07_adaptive-horizon-actor-critic-policy-learning-contact-rich-differentiable)

Ignat Georgiev, Krishnan Srinivasan, [Jie Xu](/person/jie-xu), Eric Heiden, Animesh Garg



[The Forty-First International Conference on Machine Learning (ICML) 2024](https://icml.cc/Conferences/2024)









[RVT-2: Learning Precise Manipulation from Few Examples](/publication/2024-07_rvt-2-learning-precise-manipulation-few-examples)

[Ankit Goyal](/person/ankit-goyal), [Valts Blukis](/person/valts-blukis), [Jie Xu](/person/jie-xu), [Yijie Guo](/person/yijie-guo), [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox



[Robotics: Science and Systems (RSS) 2024](https://roboticsconference.org/)









[AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries](/publication/2024-07_automate-specialist-and-generalist-assembly-policies-over-diverse-geometries)

Bingjie Tang, [Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), [Bowen Wen](/person/bowen-wen), Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, [Fabio Ramos](/person/fabio-ramos), [Yashraj Narang](/person/yashraj-narang)



[Robotics: Science and Systems (RSS) 2024](https://roboticsconference.org/2024/)









[Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following](/publication/2024-07_signatures-meet-dynamic-programming-generalizing-bellman-equations-trajectory)

Motoya Ohnishi, [Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), [Ajay Mandlekar](/person/ajay-mandlekar), [Fabio Ramos](/person/fabio-ramos)



[6th Annual Learning for Dynamics &amp; Control Conference (L4DC) 2024](https://l4dc.web.ox.ac.uk/home)









[Real-Time Anomaly Detection and Reactive Planning with Large Language Models](/publication/2024-07_real-time-anomaly-detection-and-reactive-planning-large-language-models)

Rohan Sinha, Amine Elhafsi, Christopher Agia, Matthew Foutter, Edward Schmerling, [Marco Pavone](/person/marco-pavone)



[RSS](https://roboticsconference.org/2024/program/papers/)









[FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](/publication/2024-06_foundationpose-unified-6d-pose-estimation-and-tracking-novel-objects)

[Bowen Wen](/person/bowen-wen), [Wei Yang](/person/wei-yang), [Jan Kautz](/person/jan-kautz), [Stan Birchfield](/person/stan-birchfield)



[CVPR 2024](https://cvpr.thecvf.com/Conferences/2024)









[Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects](/publication/2024-06_neural-implicit-representation-building-digital-twins-unknown-articulated)

Yijia Weng, [Bowen Wen](/person/bowen-wen), [Jonathan Tremblay](/person/jonathan-tremblay), [Valts Blukis](/person/valts-blukis), Dieter Fox, Leo Guibas, [Stan Birchfield](/person/stan-birchfield)



[CVPR 2024](https://cvpr.thecvf.com/Conferences/2024)









[SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation](/publication/2024-05_skt-hang-hanging-everyday-objects-object-agnostic-semantic-keypoint-trajectory)

Chia-Liang Kuo, [Yu-Wei Chao](/person/yu-wei-chao), Yi-Ting Chen



[IEEE International Conference on Robotics and Automation (ICRA) 2024](https://2024.ieee-icra.org)









[SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers](/publication/2024-05_synh2r-synthesizing-hand-object-motions-learning-human-robot-handovers)

Sammy Christen, Lan Feng, [Wei Yang](/person/wei-yang), [Yu-Wei Chao](/person/yu-wei-chao), Otmar Hilliges, Jie Song



[IEEE International Conference on Robotics and Automation (ICRA) 2024](https://2024.ieee-icra.org)









[One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting](/publication/2024-04_one-shot-transfer-long-horizon-extrinsic-manipulation-through-contact)

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



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://arxiv.org/abs/2404.07468)









### 2023 

[SCONE: A Food Scooping Robot Learning Framework with Active Perception](/publication/2023-11_scone-food-scooping-robot-learning-framework-active-perception)

Yen-Ling Tai, Yu Chien Chiu, [Yu-Wei Chao](/person/yu-wei-chao), Yi-Ting Chen



[Conference on Robot Learning (CoRL) 2023](https://www.corl2023.org)









[Imitating Task and Motion Planning with Visuomotor Transformers](/publication/2023-11_imitating-task-and-motion-planning-visuomotor-transformers)

Murtaza Dalal, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), Ankur Handa, Ruslan Salakhutdinov, Dieter Fox



[CoRL 2023](https://openreview.net/forum?id=QNPuJZyhFE)









[Human-In-The-Loop Task and Motion Planning for Imitation Learning](/publication/2023-11_human-loop-task-and-motion-planning-imitation-learning)

[Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), Danfei Xu, Dieter Fox



[CoRL 2023](https://openreview.net/forum?id=G_FEL3OkiR)









[RVT: Robotic View Transformer for 3D Object Manipulation](/publication/2023-11_rvt-robotic-view-transformer-3d-object-manipulation)

[Ankit Goyal](/person/ankit-goyal), [Jie Xu](/person/jie-xu), [Yijie Guo](/person/yijie-guo), [Valts Blukis](/person/valts-blukis), [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox



[Conference on Robot Learning (CoRL) 2023](https://www.corl2023.org)









[HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions](/publication/2023-10_handal-dataset-real-world-manipulable-object-categories-pose-annotations)

Andrew Guo, [Bowen Wen](/person/bowen-wen), Jianhe Yuan, [Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), [Jeff Smith](/person/jeff-smith), [Stan Birchfield](/person/stan-birchfield)



[IROS 2023](https://ieee-iros.org/)









[VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning](/publication/2023-10_vapr-variable-precision-tensors-accelerate-robot-motion-planning)

Yu-Shun Hsiao, [Siva Hari](/person/siva-hari), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Jason Yik, Thierry Tambe, [Charbel Sakr](/person/charbel-sakr), [Steve Keckler](/person/stephen-keckler), Vijay Janapa Reddi



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)](https://ieee-iros.org/)









[Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models](/publication/2023-07_bayesian-reparameterization-reward-conditioned-reinforcement-learning-energy)

Wenhao Ding, [Gerry Che](/person/gerry-che), Ding Zhao, [Marco Pavone](/person/marco-pavone)



[International Conference on Machine Learning (ICML)](https://icml.cc/Conferences/2023)









[Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning](/publication/2023-07_sequence-based-plan-feasibility-prediction-efficient-task-and-motion-planning)

Zhutian Yang, [Caelan Garrett](/person/caelan-garrett), Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox



[Robotics: Science and Systems (RSS)](https://roboticsconference.org/)









[Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation](/publication/2023-07_meta-policy-learning-over-plan-ensembles-robust-articulated-object-manipulation)

Constantinos Chamzas, [Caelan Garrett](/person/caelan-garrett), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Lydia Kavraki, Dieter Fox



[RSS 2023 Workshop on Learning for Task and Motion Planning](https://openreview.net/forum?id=68N8Dj6KVv)









[StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects](/index.php/publication/2023-07_structdiffusion-language-guided-creation-physically-valid-structures-using)

 Weiyu Liu, Yilun Du, [Tucker Hermans](/index.php/person/tucker-hermans), Sonia Chernova, Chris Paxton



[Robotics: Science and Systems (RSS) 2023](https://roboticsconference.org/)









[AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](/publication/2023-06_anyteleop-general-vision-based-dexterous-robot-arm-hand-teleoperation-system)

Yuzhe Qin, [Wei Yang](/person/wei-yang), Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox



[Robotics: Science and Systems (RSS) 2023](https://roboticsconference.org/program/papers/015/)









[Affordance Diffusion: Synthesizing Hand-Object Interactions](/publication/2023-06_affordance-diffusion-synthesizing-hand-object-interactions)

Yufei Ye, [Xueting Li](/person/xueting-li), Abhinav Gupta, [Shalini De Mello](/person/shalini-de-mello), [Stan Birchfield](/person/stan-birchfield), Jiaming Song, Shubham Tulsiani, [Sifei Liu](/person/sifei-liu)



[IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2023](https://cvpr2023.thecvf.com/)









[Learning Human-to-Robot Handovers from Point Clouds](/publication/2023-06_learning-human-robot-handovers-point-clouds)

Sammy Christen, [Wei Yang](/person/wei-yang), [Claudia Pérez D’Arpino ](/person/cdarpino), Otmar Hilliges, Dieter Fox, [Yu-Wei Chao](/person/yu-wei-chao)



[ IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023](https://cvpr2023.thecvf.com)



Highlight





[BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects](/publication/2023-06_bundlesdf-neural-6-dof-tracking-and-3d-reconstruction-unknown-objects)

[Bowen Wen](/person/bowen-wen), [Jonathan Tremblay](/person/jonathan-tremblay), [Valts Blukis](/person/valts-blukis), [Stephen Tyree](/person/stephen-tyree), [Thomas Müller](/person/thomas-muller), Alex Evans, Dieter Fox, [Jan Kautz](/person/jan-kautz), [Stan Birchfield](/person/stan-birchfield)



[CVPR 2023](https://cvpr2023.thecvf.com/)









[Deep Learning Approaches to Grasp Synthesis: A Review](/publication/2023-06_deep-learning-approaches-grasp-synthesis-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



[IEEE Transactions on Robotics](https://ieeexplore.ieee.org/abstract/document/10149823)









[23 DoF Grasping Policies from a Raw Point Cloud](/publication/2023-06_23-dof-grasping-policies-raw-point-cloud)

Martin Matak, Karl Van Wyk, [Tucker Hermans](/person/tucker-hermans)



[IEEE International Conference on Robotics and Automation (ICRA) Workshop on Geo…](https://www.mirmi.tum.de/mirmi/events/icra-2023-workshop/)









[Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers](/publication/2023-06_planning-multi-object-manipulation-graph-neural-network-relational-classifiers)

Yixuan Huang, Adam Conkey, [Tucker Hermans](/person/tucker-hermans)



[IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/)









[DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality](/publication/2023-06_dextreme-transfer-agile-hand-manipulation-simulation-reality)

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Yashraj Narang](/person/yashraj-narang), Jean-Francois Lafleche, Dieter Fox, Gavriel State



<https://arxiv.org/abs/2210.13702>









[CuRobo: Parallelized Collision-Free Robot Motion Generation](/publication/2023-05_curobo-parallelized-collision-free-robot-motion-generation)

[Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Siva Hari](/person/siva-hari), Adam Fishman, [Caelan Garrett](/person/caelan-garrett), Karl Van Wyk, [Valts Blukis](/person/valts-blukis), Alexander Millane, Helen Oleynikova, Ankur Handa, [Fabio Ramos](/person/fabio-ramos), Nathan Ratliff, Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/)









[Global and Reactive Motion Generation with Geometric Fabric Command Sequences](/publication/2023-05_global-and-reactive-motion-generation-geometric-fabric-command-sequences)

Weiming Zhi, [Iretiayo Akinola](/person/iretiayo-akinola), Karl Van Wyk, Nathan Ratliff, [Fabio Ramos](/person/fabio-ramos)



[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org/)









[Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation](/publication/2023-05_parallel-inversion-neural-radiance-fields-robust-pose-estimation)

Yunzhi Lin, [Thomas Müller](/person/thomas-muller), [Jonathan Tremblay](/person/jonathan-tremblay), [Bowen Wen](/person/bowen-wen), [Stephen Tyree](/person/stephen-tyree), Alex Evans, Patricio A. Vela, [Stan Birchfield](/person/stan-birchfield)



[ICRA 2023](https://www.icra2023.org/)









[ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models](/publication/2023-05_progprompt-generating-situated-robot-task-plans-using-large-language-models)

Ishika Singh, [Valts Blukis](/person/valts-blukis), Arsalan Mousavian, [Ankit Goyal](/person/ankit-goyal), [Danfei Xu](/person/danfei-xu), [Jonathan Tremblay](/person/jonathan-tremblay), Dieter Fox, Jesse Thomason, Animesh Garg



[The International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/welcome)









[FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments](/publication/2023-05_fewsol-dataset-few-shot-object-learning-robotic-environments)

Jishnu Jaykumar P, [Yu-Wei Chao](/person/yu-wei-chao), Yu Xiang



[IEEE International Conference on Robotics and Automation (ICRA) 2023](https://www.icra2023.org)









[DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets](/publication/2023-05_defgraspnets-grasp-planning-3d-fields-graph-neural-nets)

Isabella Huang, [Yashraj Narang](/person/yashraj-narang), Ruzena Bajcsy, [Fabio Ramos](/person/fabio-ramos), [Tucker Hermans](/person/tucker-hermans), Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/)









[IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality](/index.php/publication/2023-05_industreal-transferring-contact-rich-assembly-tasks-simulation-reality)

Bingjie Tang, Michael A. Lin, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), Ankur Handa, Gaurav S. Sukhatme, [Fabio Ramos](/index.php/person/fabio-ramos), Dieter Fox, [Yashraj Narang](/index.php/person/yashraj-narang)



[Paper](https://arxiv.org/abs/2305.17110)









[RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control ](/publication/2023-05_rgb-only-reconstruction-tabletop-scenes-collision-free-manipulator-control)

Zhenggang Tang, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Jonathan Tremblay](/person/jonathan-tremblay), [Bowen Wen](/person/bowen-wen), [Ye Yuan](/person/ye-yuan), [Stephen Tyree](/person/stephen-tyree), [Charles Loop](/person/charles-loop), Alexander Schwing, [Stan Birchfield](/person/stan-birchfield)



[ICRA 2023](https://www.icra2023.org/)









[CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation](/publication/2023-05_cabinet-scaling-neural-collision-detection-object-rearrangement-procedural)

[Adithya Murali](/person/adithya-murali), Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox



[International Conference on Robotics and Automation (ICRA)](https://arxiv.org/abs/2304.09302)









### 2022 

[Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch](/index.php/publication/2022-12_planning-visual-tactile-precision-grasps-complementary-use-vision-and-touch)

Martin Matak, [Tucker Hermans](/index.php/person/tucker-hermans)



[IEEE Robotics and Automation Letters ](https://ieeexplore.ieee.org/document/9996386)









[Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation](/publication/2022-12_learning-robust-real-world-dexterous-grasping-policies-implicit-shape)

Qiuyu Chen, Karl Van Wyk, [Yu-Wei Chao](/person/yu-wei-chao), [Wei Yang](/person/wei-yang), Arsalan Mousavian, Abhishek Gupta, Dieter Fox



[The Conference on Robot Learning (CoRL) 2022](https://corl2022.org/)









[MegaPose: 6D Pose Estimation of Novel Objects via Render &amp; Compare](/publication/2022-12_megapose-6d-pose-estimation-novel-objects-render-compare)

Yann Labbe, Lucas Manuelli, Arsalan Mousavian, [Stephen Tyree](/person/stephen-tyree), [Stan Birchfield](/person/stan-birchfield), [Jonathan Tremblay](/person/jonathan-tremblay), et al.



[CoRL 2022](https://corl2022.org/)









[Motion Policy Networks](/publication/2022-12_motion-policy-networks)

Adam Fishman, [Adithya Murali](/person/adithya-murali), Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox



[Conference on Robot Learning (CoRL), 2022](https://arxiv.org/abs/2210.12209)









[6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark](/publication/2022-11_6-dof-pose-estimation-household-objects-robotic-manipulation-accessible-dataset)

[Stephen Tyree](/person/stephen-tyree), [Jonathan Tremblay](/person/jonathan-tremblay), [Stan Birchfield](/person/stan-birchfield), et al.



[IROS 2022](https://iros2022.org/)









[Learning Perceptual Concepts by Bootstrapping from Human Queries](/publication/2022-10_learning-perceptual-concepts-bootstrapping-human-queries)

Andreea Bobu, Chris Paxton, [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Yu-Wei Chao](/person/yu-wei-chao), Maya Cakmak, Dieter Fox



[RA-L / IROS 2022](https://iros2022.org/)









[Retrospectives on the Embodied AI Workshop](/publication/2022-10_retrospectives-embodied-ai-workshop)

Matt Deitke, Dhruv Batra, Yonatan Bisk, Tommaso Campari, Angel X. Chang, Devendra Singh Chaplot, Changan Chen, [Claudia Pérez D’Arpino ](/person/cdarpino), Kiana Ehsani, Ali Farhadi, Li Fei-Fei, Anthony Francis, Chuang Gan, Kristen Grauman, David Hall, Winson Han, Unnat Jain, Aniruddha Kembhavi, Jacob Krantz, Stefan Lee, Chengshu Li, Sagnik Majumder, Oleksandr Maksymets, Roberto Martín-Martín, Roozbeh Mottaghi, Sonia Raychaudhuri, Mike Roberts, Silvio Savarese, Manolis Savva, Mohit Shridhar, Niko Sünderhauf, Andrew Szot, Ben Talbot, Joshua B. Tenenbaum, Jesse Thomason, Alexander Toshev, Joanne Truong, Luca Weihs, Jiajun Wu



<https://arxiv.org/abs/2210.06849>









[Correcting Robot Plans with Natural Language Feedback](/publication/2022-06_correcting-robot-plans-natural-language-feedback)

Pratyusha Sharma, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Valts Blukis](/person/valts-blukis), Chris Paxton, [Tucker Hermans](/person/tucker-hermans), Antonio Torralba, Jacob Andreas, Dieter Fox



[Robotics Science and Systems (RSS) 2022](http://www.roboticsproceedings.org/rss18/index.html)









[Ifor: Iterative flow minimization for robotic object rearrangement](/publication/2022-06_ifor-iterative-flow-minimization-robotic-object-rearrangement)

[Ankit Goyal](/person/ankit-goyal), Arsalan Mousavian, Chris Paxton, [Yu-Wei Chao](/person/yu-wei-chao), Brian Okorn, Jia Deng, Dieter Fox



[IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/)









[HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers](/publication/2022-05_handoversim-simulation-framework-and-benchmark-human-robot-object-handovers)

[Yu-Wei Chao](/person/yu-wei-chao), Chris Paxton, Yu Xiang, [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Tao Chen, [Adithya Murali](/person/adithya-murali), Maya Cakmak, Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org)









[Factory: Fast Contact for Robotic Assembly](/publication/2022-05_factory-fast-contact-robotic-assembly)

[Yashraj Narang](/person/yashraj-narang), Kier Storey, [Iretiayo Akinola](/person/iretiayo-akinola), Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox













[Accelerated Policy Learning with Parallel Differentiable Simulation](/publication/2022-05_accelerated-policy-learning-parallel-differentiable-simulation)

[Jie Xu](/person/jie-xu), Viktor Makoviychuk, [Yashraj Narang](/person/yashraj-narang), [Fabio Ramos](/person/fabio-ramos), Wojciech Matusik, Animesh Garg, Miles Macklin



[International Conference on Learning Representations (ICLR) 2022](https://iclr.cc/Conferences/2022)









[Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design](/publication/2022-04_transform2act-learning-transform-and-control-policy-efficient-agent-design)

[Ye Yuan](/person/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](/publication/2022-04_model-predictive-control-fluid-human-robot-handovers)

[Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Chris Paxton, [Iretiayo Akinola](/person/iretiayo-akinola), [Yu-Wei Chao](/person/yu-wei-chao), Maya Cakmak, Dieter Fox



[IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org/)









[DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects](/publication/2022-03_defgraspsim-physics-based-simulation-grasp-outcomes-3d-deformable-objects)

Isabella Huang, [Yashraj Narang](/person/yashraj-narang), Clemens Eppner, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Miles Macklin, Ruzena Bajcsy, [Tucker Hermans](/person/tucker-hermans), Dieter Fox



[IEEE Robotics and Automation Letters](https://ieeexplore.ieee.org/document/9735347)









[PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation](/index.php/publication/2022-03_predictionnet-real-time-joint-probabilistic-traffic-prediction-planning-control)

Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, [Stan Birchfield](/index.php/person/stan-birchfield), David Nister, Nikolai Smolyanskiy



ICRA 2022









[Cooperative Task and Motion Planning for Multi-Arm Assembly Systems](/index.php/publication/2022-03_cooperative-task-and-motion-planning-multi-arm-assembly-systems)

Jingkai Chen, Jiaoyang Li, Yijiang Huang, [Caelan Garrett](/index.php/person/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](/publication/2022-02_single-stage-keypoint-based-category-level-object-pose-estimation-rgb-image)

Yunzhi Lin, [Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), Patricio A. Vela, [Stan Birchfield](/person/stan-birchfield)



ICRA 2022









[Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation](/publication/2022-01_keypoint-based-category-level-object-pose-tracking-rgb-sequence-uncertainty)

Yunzhi Lin, [Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), Patricio A. Vela, [Stan Birchfield](/person/stan-birchfield)



ICRA 2022









### 2021 

[Interpreting and predicting tactile signals for the SynTouch BioTac](/publication/2021-12_interpreting-and-predicting-tactile-signals-syntouch-biotac)

[Yashraj Narang](/person/yashraj-narang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Karl Van Wyk, Arsalan Mousavian, Dieter Fox



[International Journal of Robotics Research (IJRR) 2021](https://journals.sagepub.com/doi/abs/10.1177/02783649211047634?journalCode=ijra)









[Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds](/publication/2021-11_goal-auxiliary-actor-critic-6d-robotic-grasping-point-clouds)

Lirui Wang, Yu Xiang, [Wei Yang](/person/wei-yang), Arsalan Mousavian, Dieter Fox



[Conference on Robot Learning 2021](https://www.robot-learning.org/)









[STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation](/publication/2021-11_storm-integrated-framework-fast-joint-space-model-predictive-control-reactive)

Mohak Bhardwaj, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Arsalan Mousavian, Nathan Ratliff, Dieter Fox, [Fabio Ramos](/person/fabio-ramos), Byron Boots



[Conference on Robot Learning (CoRL) 2021](https://sites.google.com/robot-learning.org/corl2021)



Selected for Oral Presentation





[Joint Space Control via Deep Reinforcement Learning](/publication/2021-09_joint-space-control-deep-reinforcement-learning)

Visak Kumar, David Hoeller, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Jonathan Tremblay](/person/jonathan-tremblay), [Stan Birchfield](/person/stan-birchfield)



[IROS 2021](https://www.iros2021.org/)









[Multi-View Fusion for Multi-Level Robotic Scene Understanding](/publication/2021-09_multi-view-fusion-multi-level-robotic-scene-understanding)

Yunzhi Lin, [Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), Patricio A. Vela, [Stan Birchfield](/person/stan-birchfield)



[IROS 2021](https://www.iros2021.org/)









[DexYCB: A Benchmark for Capturing Hand Grasping of Objects](/publication/2021-06_dexycb-benchmark-capturing-hand-grasping-objects)

[Yu-Wei Chao](/person/yu-wei-chao), [Wei Yang](/person/wei-yang), Yu Xiang, [Pavlo Molchanov](/person/pavlo-molchanov), Ankur Handa, [Jonathan Tremblay](/person/jonathan-tremblay), [Yashraj Narang](/person/yashraj-narang), Karl Van Wyk, [Umar Iqbal](/person/umar-iqbal), [Stan Birchfield](/person/stan-birchfield), [Jan Kautz](/person/jan-kautz), Dieter Fox



[IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021](http://cvpr2021.thecvf.com)









[Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections](/publication/2021-06_sim-real-robotic-tactile-sensing-physics-based-simulation-and-learned-latent)

[Yashraj Narang](/person/yashraj-narang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Miles Macklin, Arsalan Mousavian, Dieter Fox



[International Conference on Robotics and Automation (ICRA) 2021](https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra)









[Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments](/index.php/publication/2021-05_alternative-paths-planner-app-provably-fixed-time-manipulation-planning-semi)

Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox



[2021 IEEE International Conference on Robotics and Automation (ICRA)](https://ieeexplore.ieee.org/abstract/document/9561563)









[ACRONYM: A Large-Scale Grasp Dataset Based on Simulation](/publication/2021-05_acronym-large-scale-grasp-dataset-based-simulation)

Clemens Eppner, Arsalan Mousavian, Dieter Fox



[2021 IEEE International Conference on Robotics and Automation (ICRA)](https://ieeexplore.ieee.org/document/9560844)









[Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs](/index.php/publication/2021-05_hierarchical-planning-long-horizon-manipulation-geometric-and-symbolic-scene)

Yifeng Zhu, [Jonathan Tremblay](/index.php/person/jonathan-tremblay), [Stan Birchfield](/index.php/person/stan-birchfield), [Yuke Zhu](/index.php/person/yuke-zhu)



[ICRA 2021](https://www.ieee-icra.org/)









[Fast Uncertainty Quantification for Deep Object Pose Estimation](/publication/2021-05_fast-uncertainty-quantification-deep-object-pose-estimation)

Guanya Shi, Yifeng Zhu, [Jonathan Tremblay](/person/jonathan-tremblay), [Stan Birchfield](/person/stan-birchfield), [Fabio Ramos](/person/fabio-ramos), Anima Anandkumar, [Yuke Zhu](/person/yuke-zhu)



[ICRA 2021](https://www.ieee-icra.org/)









[NViSII: A Scriptable Tool for Photorealistic Image Generation](/publication/2021-05_nvisii-scriptable-tool-photorealistic-image-generation)

Nathan Morrical, [Jonathan Tremblay](/person/jonathan-tremblay), Yunzhi Lin, [Stephen Tyree](/person/stephen-tyree), [Stan Birchfield](/person/stan-birchfield), Valerio Pascucci, Ingo Wald



SDG Workshop at ICLR 2021









[RGB-D Local Implicit Function for Depth Completion of Transparent Objects](/publication/2021-03_rgb-d-local-implicit-function-depth-completion-transparent-objects)

Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox



[CVPR 2021](http://cvpr2021.thecvf.com/)









[Reactive Human-to-Robot Handovers of Arbitrary Objects](/publication/2021-03_reactive-human-robot-handovers-arbitrary-objects)

[Wei Yang](/person/wei-yang), Chris Paxton, Arsalan Mousavian, [Yu-Wei Chao](/person/yu-wei-chao), Maya Cakmak, Dieter Fox



ICRA 2021



Best Paper in Human-Robot Interaction, ICRA 2021





[Object Rearrangement Using Learned Implicit Collision Functions](/publication/2021-03_object-rearrangement-using-learned-implicit-collision-functions)

Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox



[ICRA 2021](http://www.icra2021.org/)









[Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](/publication/2021-03_contact-graspnet-efficient-6-dof-grasp-generation-cluttered-scenes)

Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, Dieter Fox



[ICRA 2021](http://www.icra2021.org/)









[Transferable Task Execution from Pixels through Deep Planning Domain Learning](/publication/2021-02_transferable-task-execution-pixels-through-deep-planning-domain-learning)

Kei Kase, Chris Paxton, Hammad Mazhar, Tetsuya Ogata, Dieter Fox



[ICRA 2020](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9196597)









### 2020 

[Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies](/publication/2020-11_contextual-reinforcement-learning-visuo-tactile-multi-fingered-grasping)

Visak Kumar, [Tucker Hermans](/person/tucker-hermans), Dieter Fox, [Stan Birchfield](/person/stan-birchfield), [Jonathan Tremblay](/person/jonathan-tremblay)



[NeurIPS Workshop on Robot Learning](http://www.robot-learning.ml/2020/)









[RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies](/publication/2020-11_rmpflow-geometric-framework-generation-multi-task-motion-policies)

Ching-An Cheng, Mustafa Mukadam, Jan Issac, [Stan Birchfield](/person/stan-birchfield), Dieter Fox, Byron Boots, Nathan Ratliff



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









[RMPflow: A Computational Graph for Automatic Motion Policy Generation ](/publication/2020-11_rmpflow-computational-graph-automatic-motion-policy-generation)

Ching-An Cheng, Mustafa Mukadam, Jan Issac, [Stan Birchfield](/person/stan-birchfield), Dieter Fox, Byron Boots, Nathan Ratliff



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









[Collaborative Interaction Models for Optimized Human-Robot Teamwork](/publication/2020-10_collaborative-interaction-models-optimized-human-robot-teamwork)

Adam Fishman, Chris Paxton, [Wei Yang](/person/wei-yang), Nathan Ratliff, Byron Boots, Dieter Fox



[International Conference on Intelligent Robots and Systems (IROS) 2020](https://www.iros2020.org/)









[Human Grasp Classification for Reactive Human-to-Robot Handovers](/publication/2020-10_human-grasp-classification-reactive-human-robot-handovers)

[Wei Yang](/person/wei-yang), Chris Paxton, Maya Cakmak, Dieter Fox



[International Conference on Intelligent Robots and Systems (IROS), 2020](https://www.iros2020.org/)









[“Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer](/index.php/publication/2020-10_good-robot-efficient-reinforcement-learning-multi-step-visual-tasks-sim-real)

Andrew Hundt, Benjamin Killeen, Nicholas Greene, Hongtao Wu, Heeyeon Kwon, Chris Paxton, Gregory D Hager



[IEEE Robotics and Automation Letters](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9165109)









[Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints ](/publication/2020-08_weakly-supervised-3d-hand-pose-estimation-biomechanical-constraints)

Adrian Spurr, [Umar Iqbal](/person/umar-iqbal), [Pavlo Molchanov](/person/pavlo-molchanov), Otmar Hilliges, [Jan Kautz](/person/jan-kautz)



[European Conference on Computer Vision, 2020](https://eccv2020.eu/)









[OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation](/publication/2020-08_ocean-online-task-inference-compositional-tasks-context-adaptation)

Hongyu Ren, [Yuke Zhu](/person/yuke-zhu), Jure Leskovec, Anima Anandkumar, Animesh Garg



[Conference on Uncertainty in Artificial Intelligence (UAI) 2020](http://auai.org/uai2020/)









[Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera](/publication/2020-07_indirect-object-robot-pose-estimation-external-monocular-rgb-camera)

[Jonathan Tremblay](/person/jonathan-tremblay), [Stephen Tyree](/person/stephen-tyree), Terry Mosier, [Stan Birchfield](/person/stan-birchfield)



IROS 2020









[Automated Synthetic-to-Real Generalization](/publication/2020-07_automated-synthetic-real-generalization)

Wuyang Chen, [Zhiding Yu](/person/zhiding-yu), Zhangyang Wang, Anima Anandkumar



[International Conference on Machine Learning (ICML) 2020](https://icml.cc/virtual/2020)









[MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views ](/publication/2020-06_mvlidarnet-real-time-multi-class-scene-understanding-autonomous-driving-using)

Ke Chen, Ryan Oldja, Nikolai Smolyanskiy, [Stan Birchfield](/person/stan-birchfield), Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl



IROS 2020









[6-DOF Grasping for Target-driven Object Manipulation in Clutter](/publication/2020-06_6-dof-grasping-target-driven-object-manipulation-clutter)

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



[ICRA 2020](https://www.icra2020.org)



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





[Online replanning in belief space for partially observable task and motion problems](/publication/2020-05_online-replanning-belief-space-partially-observable-task-and-motion-problems)

[Caelan Garrett](/person/caelan-garrett), Chris Paxton, Tomas Lozano-Perez, Leslie Kaebling, Dieter Fox



[ICRA 2020](https://ieeexplore.ieee.org/iel7/9187508/9196508/09196681.pdf)









[Self-supervised 6D Object Pose Estimation for Robot Manipulation](/publication/2020-05_self-supervised-6d-object-pose-estimation-robot-manipulation)

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



[2020 IEEE International Conference on Robotics and Automation (ICRA)](https://ieeexplore.ieee.org/document/9196714)









[Motion reasoning for goal-based imitation learning](/publication/2020-05_motion-reasoning-goal-based-imitation-learning)

De-An Huang, [Yu-Wei Chao](/person/yu-wei-chao), Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox



[ICRA 2020](https://ieeexplore.ieee.org/iel7/9187508/9196508/09197172.pdf)









[Camera-to-Robot Pose Estimation from a Single Image](/publication/2020-05_camera-robot-pose-estimation-single-image)

Timothy E. Lee, [Jonathan Tremblay](/person/jonathan-tremblay), Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, [Stan Birchfield](/person/stan-birchfield)



ICRA 2020









[How to close sim-real gap? transfer with segmentation!](/publication/2020-05_how-close-sim-real-gap-transfer-segmentation)

Mengyuan Yan, Qingyun Sun, [Iuri Frosio](/person/iuri-frosio), [Stephen Tyree](/person/stephen-tyree), [Jan Kautz](/person/jan-kautz)



arxiv









[Toward Sim-to-Real Directional Semantic Grasping](/publication/2020-05_toward-sim-real-directional-semantic-grasping)

Shariq Iqbal, [Jonathan Tremblay](/person/jonathan-tremblay), Thang To, Jia Cheng, Erik Leitch, Andy Campbell, Kirby Leung, Duncan McKay, [Stan Birchfield](/person/stan-birchfield)



ICRA 2020









[DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System](/publication/2020-05_dexpilot-vision-based-teleoperation-dexterous-robotic-hand-arm-system)

Ankur Handa, Karl Van Wyk, [Wei Yang](/person/wei-yang), Jacky Liang, [Yu-Wei Chao](/person/yu-wei-chao), Qian Wan, [Stan Birchfield](/person/stan-birchfield), Nathan Ratliff, Dieter Fox



[ICRA 2020](http://icra2020.org/)









### 2019 

[6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](/publication/2019-10_6-dof-graspnet-variational-grasp-generation-object-manipulation)

Arsalan Mousavian, Clemens Eppner, Dieter Fox



[ICCV 2019](http://iccv2019.thecvf.com/)









[A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set](/publication/2019-10_billion-ways-grasp-evaluation-grasp-sampling-schemes-dense-physics-based-grasp)

Clemens Eppner, Arsalan Mousavian, Dieter Fox



[The International Symposium of Robotics Research (ISSR)](https://link.springer.com/chapter/10.1007/978-3-030-95459-8_55)









[Representing robot task plans as robust logical-dynamical systems](/publication/2019-08_representing-robot-task-plans-robust-logical-dynamical-systems)

Chris Paxton, Clemens Eppner, Nathan Ratliff, Dieter Fox



[IROS 2019](https://arxiv.org/pdf/1908.01896)









[Putting Humans in a Scene: Learning Affordance in 3D Indoor Environments](/publication/2019-06_putting-humans-scene-learning-affordance-3d-indoor-environments)

Xueting Li, [Sifei Liu](/person/sifei-liu), Kihwan Kim, Xiaolong Wang, Ming-Hsuan Yang, [Jan Kautz](/person/jan-kautz)



[CVPR 2019](https://sites.google.com/view/3d-affordance-cvpr19)









[Robust Learning of Tactile Force Estimation through Robot Interaction](/publication/2019-05_robust-learning-tactile-force-estimation-through-robot-interaction)

[Balakumar Sundaralingam](/person/balakumar-sundaralingam), Alexander Lambert, Ankur Handa, Byron Boots, [Tucker Hermans](/person/tucker-hermans), [Stan Birchfield](/person/stan-birchfield), Nathan Ratliff, Dieter Fox



ICRA 2019









### 2018 

[Fluidic Elastomer Actuators for Haptic Interactions in Virtual Reality](/publication/2018-12_fluidic-elastomer-actuators-haptic-interactions-virtual-reality)

Jose Barreiros, Houston Claure, Bryan Peele, [Omer Shapira](/person/omer-shapira), [Josef Spjut](/person/josef-spjut), [David Luebke](/person/david-luebke), Malte Jung, Robert Shepherd



[IEEE Robotics and Automation Letters](https://ieeexplore.ieee.org/document/8581471)









[Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects](/publication/2018-09_deep-object-pose-estimation-semantic-robotic-grasping-household-objects)

[Jonathan Tremblay](/person/jonathan-tremblay), Thang To, Bala Sundaralingam, Yu Xiang, Dieter Fox, [Stan Birchfield](/person/stan-birchfield)



[Conference on Robot Learning (CoRL) 2018](http://www.robot-learning.org/)









[Learning Rigidity in Dynamic Scenes with a Moving Camera for 3D Motion Field Estimation](/publication/2018-09_learning-rigidity-dynamic-scenes-moving-camera-3d-motion-field-estimation)

Zhaoyang Lv, Kihwan Kim, Alejandro Troccoli, Deqing Sun, James M. Rehg, [Jan Kautz](/person/jan-kautz)



[European Conference on Computer Vision (ECCV 2018)](https://eccv2018.org/)









[Simultaneous Edge Alignment and Learning](/publication/2018-09_simultaneous-edge-alignment-and-learning)

[Zhiding Yu](/person/zhiding-yu), Weiyang Liu, Yang Zou, Chen Feng, Srikumar Ramalingam, B. V. K. Vijaya Kumar, [Jan Kautz](/person/jan-kautz)



[European Conference on Computer Vision (ECCV) 2018](https://eccv2018.org/)









[HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration](/publication/2018-09_hgmr-hierarchical-gaussian-mixtures-adaptive-3d-registration)

Ben Eckart, Kihwan Kim, [Jan Kautz](/person/jan-kautz)



[European Conference on Computer Vision (ECCV 2018)](https://eccv2018.org/)









[Domain Adaptation for Semantic Segmentation via Class-Balanced Self-Training](/publication/2018-09_domain-adaptation-semantic-segmentation-class-balanced-self-training)

Yang Zou, [Zhiding Yu](/person/zhiding-yu), B. V. K. Vijaya Kumar, Jinsong Wang



[European Conference on Computer Vision (ECCV) 2018](https://eccv2018.org/)









[EOE: Expected Overlap Estimation over Unstructured Point Cloud Data](/publication/2018-09_eoe-expected-overlap-estimation-over-unstructured-point-cloud-data)

Ben Eckart, Kihwan Kim, [Jan Kautz](/person/jan-kautz)



[International Conference on 3D Vision (3DV) 2018](http://3dv18.uniud.it/)









[Region Growing Curriculum Generation for Reinforcement Learning](/publication/2018-07_region-growing-curriculum-generation-reinforcement-learning)

Artem Molchanov, Karol Hausman, [Stan Birchfield](/person/stan-birchfield), Gaurav Sukhatme



arXiv









[Geometry-Aware Learning of Maps for Camera Localization](/publication/2018-06_geometry-aware-learning-maps-camera-localization)

Samarth Brahmbhatt, [Jinwei Gu](/person/jinwei-gu), Kihwan Kim, James Hays, [Jan Kautz](/person/jan-kautz)



[CVPR 2018 (Spotlight)](http://cvpr2018.thecvf.com/)









[Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation](/publication/2018-06_falling-things-synthetic-dataset-3d-object-detection-and-pose-estimation)

[Jonathan Tremblay](/person/jonathan-tremblay), Thang To, [Stan Birchfield](/person/stan-birchfield)



[CVPR 2018 Workshop on Real World Challenges and New Benchmarks for Deep Learnin…](https://sites.google.com/view/cvpr2018-robotic-vision)









[PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](/publication/2018-06_posecnn-convolutional-neural-network-6d-object-pose-estimation-cluttered-scenes)

Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox



[Robotics: Science and Systems (RSS)](http://www.roboticsconference.org/)









[Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations ](/publication/2018-05_synthetically-trained-neural-networks-learning-human-readable-plans-real-world)

[Jonathan Tremblay](/person/jonathan-tremblay), Thang To, Artem Molchanov, [Stephen Tyree](/person/stephen-tyree), [Jan Kautz](/person/jan-kautz), [Stan Birchfield](/person/stan-birchfield)



[IEEE International Conference on Robotics and Automation (ICRA) 2018](https://icra2018.org/)









[A Variable Shape and Variable Stiffness Controller for Haptic Virtual Interactions](/publication/2018-04_variable-shape-and-variable-stiffness-controller-haptic-virtual-interactions)

Benjamin C. Mac Murray, Bryan N. Peele, Patricia Xu, [Josef Spjut](/person/josef-spjut), [Omer Shapira](/person/omer-shapira), [David Luebke](/person/david-luebke), Robert F. Shepherd



[RoboSoft](http://www.robosoft2018.org/)









[On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach ](/index.php/publication/2018-04_importance-stereo-accurate-depth-estimation-efficient-semi-supervised-deep)

Nikolai Smolyanskiy, Alexey Kamenev, [Stan Birchfield](/index.php/person/stan-birchfield)



[CVPR 2018 Workshop on Autonomous Driving](http://www.wad.ai)









[Riemannian Motion Policies](/publication/2018-03_riemannian-motion-policies)

Nathan Ratliff, Jan Issac, Daniel Kappler, [Stan Birchfield](/person/stan-birchfield), Dieter Fox



[arXiv](https://arxiv.org/pdf/1801.02854.pdf)









### 2017 

[Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control](/publication/2017-12_sim-real-transfer-accurate-grasping-eye-hand-observations-and-continuous)

Mengyuan Yan, [Iuri Frosio](/person/iuri-frosio), [Stephen Tyree](/person/stephen-tyree), [Jan Kautz](/person/jan-kautz)



[NIPS 2017 Workshop on Acting and Interacting in the Real World: Challenges in …](https://sites.google.com/view/nips17robotlearning/home)









[Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness](/publication/2017-09_toward-low-flying-autonomous-mav-trail-navigation-using-deep-neural-networks)

Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, [Stan Birchfield](/person/stan-birchfield)



[IROS 2017](https://www.iros2017.org/)









### 2016 

[Accelerated Generative Models for 3D Point Cloud Data](/publication/2016-06_accelerated-generative-models-3d-point-cloud-data)

Ben Eckart, Kihwan Kim, Alejandro Troccoli, Alonzo Kelly, [Jan Kautz](/person/jan-kautz)



[IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2016](http://cvpr2016.thecvf.com/)









[Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation](/publication/_verification-and-synthesis-robust-control-barrier-functions-multilevel-polynomial)

Shucheng Kang, [Yuxiao Chen](/person/yuxiao-chen), [Heng Yang](/person/heng-yang), [Marco Pavone](/person/marco-pavone)



[IEEE Conference on Decision and Control (CDC)](https://cdc2023.ieeecss.org/)









 

 



 ### Researchers

 

[Adithya Murali](/person/adithya-murali)



[Ajay Mandlekar](/index.php/person/ajay-mandlekar)



[Alán Aspuru-Guzik](/person/alan-aspuru-guzik)



[Alperen Degirmenci](/index.php/person/alperen-degirmenci)



[Ankit Goyal](/person/ankit-goyal)



[Anqi Li](/person/anqi-li)



[Avnish Narayan](/index.php/person/avnish-narayan)



[Balakumar Sundaralingam](/person/balakumar-sundaralingam)



[Benjamin Eckart](/person/ben-eckart)



[Bertrand Douillard](/person/bertrand-douillard)



[Boris Ivanovic](/person/boris-ivanovic)



[Bowen Wen](/person/bowen-wen)



[Bradley Kim](/person/bradley-kim)



[Caelan Garrett](/person/caelan-garrett)



[Chen-Hsuan Lin](/person/chen-hsuan-lin)



[Chi-Pin Huang](/person/chi-pin-huang)



[Chia-Wen Kuo](/index.php/person/chia-wen-kuo)



[Claudia Pérez D’Arpino ](/person/cdarpino)



[Connor Yako](/person/connor-yako)



[Danfei Xu](/person/danfei-xu)



[David Sami](/person/david-sami)



[Dejun Guo](/person/dejun-guo)



[Dennis Da](/person/dennis-da)



[Ed Schmerling](/person/ed-schmerling)



[Elie Aljalbout](/person/elie-aljalbout)



[Fabio Ramos](/index.php/person/fabio-ramos)



[Fengyuan Hu](/index.php/person/fengyuan-hu)



[Fernando Castaneda](/person/fernando-castaneda)



[Frederik Ebert](/person/frederik-ebert)



[Guanzhi Wang](/person/guanzhi-wang)



[Heng Yang](/person/heng-yang)



[Hugo Hadfield](/index.php/person/hugo-hadfield)



[Iuri Frosio](/person/iuri-frosio)



[Jef Packer](/person/jef-packer)



[Jeff Smith](/person/jeff-smith)



[Jie Xu](/person/jie-xu)



[Linxi "Jim" Fan](/person/linxi-jim-fan)



[Jimmy Wu](/person/jimmy-wu)



[Jinhyung Park](/person/jinhyung-park)



[Jinwei Gu](/index.php/person/jinwei-gu)



[Jonathan Tremblay](/person/jonathan-tremblay)



[Junhyeok Ahn](/person/junhyeok-ahn)



[Kaichun Mo](/person/kaichun-mo)



[Karen Leung](/person/karen-leung)



[Lars Johannsmeier](/person/lars-johannsmeier)



[Li Xu](/person/li-xu)



[Loic Magne](/person/loic-magne)



[Marco Pavone](/index.php/person/marco-pavone)



[Mengda Xu](/person/mengda-xu)



[Nikita Cherniadev](/index.php/person/nikita-cherniadev)



[Peter Karkus](/person/peter-karkus)



[Rachel Luo](/index.php/person/rachel-luo)



[Rowland O'Flaherty](/person/rowland-oflaherty)



[Ruijie Zheng](/index.php/person/ruijie-zheng)



[Scott Reed](/index.php/person/scott-reed)



[Seonghyeon Ye](/person/seonghyeon-ye)



[Shenli Yuan](/person/shenli-yuan)



[Shuran Song](/index.php/person/shuran-song)



[Siva Hari](/person/siva-hari)



[Stan Birchfield](/person/stan-birchfield)



[Stephen Tyree](/person/stephen-tyree)



[Sushant Veer](/person/sushant-veer)



[Tianli Ding](/person/tianli-ding)



[Tucker Hermans](/person/tucker-hermans)



[Valts Blukis](/person/valts-blukis)



[Wei Yang](/person/wei-yang)



[Wenhao Ding](/index.php/person/wenhao-ding)



[Wonmin Byeon](/person/wonmin-byeon)



[Xiaodong Yang](/person/xiaodong-yang)



[Xin Kong](/person/xin-kong)



[Xinshuo Weng](/index.php/person/xinshuo-weng)



[Xuan Li](/person/xuan-li)



[Xuning Yang](/person/xuning-yang)



[Yashraj Narang](/person/yashraj-narang)



[Ye Yuan](/person/ye-yuan)



[Yevgen Chebotar](/person/yevgen-chebotar)



[Yijie Guo](/person/yijie-guo)



[Yinzhen Xu](/person/yinzhen-xu)



[Yixuan Wang](/person/yixuan-wang)



[Yongxin Chen](/person/yongxin-chen)



[You Liang Tan](/person/you-liang-tan)



[Yu Fang](/person/yu-fang)



[Yu Wang](/person/yu-wang)



[Yu-Wei Chao](/person/yu-wei-chao)



[Yue Wang](/person/yue-wang)



[Yufei Ye](/person/yufei-ye)



[Yuke Zhu](/person/yuke-zhu)



[Yunze Man](/person/yunze-man)



[Yuqi Xie](/person/yuqi-xie)



[Yuxiao Chen](/person/yuxiao-chen)



[Zhengyi Luo](/person/zhengyi-luo)



[Zhiding Yu](/person/zhiding-yu)