Publications

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
Differentiable GPU-Parallelized Task and Motion Planning
3D-MVP: 3D Multiview Pretraining for Robotic Manipulation
TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
MatchMaker: Automated Robotic Assembly Asset Generation for Policy Learning in Simulation
Inference-Time Policy Steering through Human Interactions
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Ergodic Trajectory Optimization on Generalized Domains using Maximum Mean Discrepancy
Diverse Motion Planning with Stein Diffusion Trajectory Inference
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
What Matters in Learning from Large-Scale Datasets for Robot Manipulation
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks

🏆 Spotlight Presentation

PWM: Policy Learning with Large World Models
HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation
EgoSim: Egocentric Exploration in Virtual Worlds with Multi-modal Conditioning
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Aim My Robot: Precision Navigation to Any Object
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
QueST: Self-Supervised Skill Abstractions for Learning Continuous Control
MeMo: Meaningful, Modular Controllers via Noise Injection
AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent
Workshop on Mastering Robot Manipulation in a World of Abundant Data
SPIRE: Synergistic Planning, Imitation, and Reinforcement for Long-Horizon Manipulation
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach
Discovering Robotic Interaction Modes with Discrete Representation Learning
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
Stein Movement Primitives for Adaptive Multi-Modal Trajectory Generation
Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting
Learning for Kinodynamic Tree Expansion
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Fast Explicit-Input Assistance for Teleoperation in Clutter
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
Stein Variational Ergodic Search
Stein Random Feature Regression
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following
RVT-2: Learning Precise Manipulation from Few Demonstrations
HAISOR: Human-Aware Indoor Scene Optimization via Deep Reinforcement Learning
BeigeMaps: Behavioral Eigenmaps for Reinforcement Learning from Images
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation
Summarize the Past to Predict the Future: Natural Language Descriptions of Context Boost Multimodal Object Interaction Anticipation
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
Category-Level Multi-Part Multi-Joint 3D Shape Assembly
TacSL: A Library for Visuotactile Sensor Simulation and Learning
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation
Point Cloud Models Improve Visual Robustness in Robotic Learners
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors
Fast Fourier Bayesian Quadrature
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation
Pick and Place Planning is Better than Pick Planning then Place Planning
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects
Learning to Simulate Tree-Branch Dynamics for Manipulation
STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots
SCONE: A Food Scooping Robot Learning Framework with Active Perception
RVT: Robotic View Transformer for 3D Object Manipulation
Path Signatures for Diversity in Probabilistic Trajectory Optimisation
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
M2T2: Multi-task Masked Transformer for Object-centric Pick-and-Place
Learning to Summarize and Answer Questions about a Virtual Robot's Past Actions
Imitating Task and Motion Planning with Visuomotor Transformers
Human-In-The-Loop Task and Motion Planning for Imitation Learning
Composable Part-Based Manipulation
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
COPILOT: Human Collision Prediction and Localization from Egocentric Videos
Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks
Toward Learning Geometric Eigen-Lengths Crucial for Fitting Tasks
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
IndustReal: Transferring Contact-Rich Assembly from Simulation to Reality
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
Self-Supervised Learning of Action Affordances as Interaction Modes
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
nerf2nerf: Pairwise Registration of Neural Radiance Fields
MVTrans: Multi-View Perception of Transparent Objects
Learning Human-to-Robot Handovers from Point Clouds

🏆 Highlight

JacobiNeRF: NeRF Shaping with Mutual Information Gradients
Global and Reactive Motion Generation with Geometric Fabric Command Sequences
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
DeXtreme: Transferring Agile In-hand Manipulation from Simulation to Reality
DexGrasp-1M: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
CuRobo: Parellelized Collision-Free Robot Motion Generation
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
SlotFormer: Unsupervised Visual Dynamics Simulation with Object-Centric Models
Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward
DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulation
ORBIT : A Unified Simulation Framework for Interactive Robot Learning Environments
Visual-Tactile Surface Estimation to Enable Multi-fingered, Precision Grasps
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
SMPL: Simulated Industrial Manufacturing and Process Control Learning Environments
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

🏆 Best workshop paper finalist

RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments
RoboReport: Summarizing a virtual robot's past actions in natural language
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
Non-deep Networks
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Motion Policy Networks
MoCoDA: Model-based Counterfactual Data Augmentation
MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge

🏆 Outstanding paper

MegaPose: 6D Pose Estimationof Novel Objects via Render & Compare
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Learning and Retrieval from Prior Data for Skill-based Imitation Learning
Insights towards Sim2Real Contact-Rich Manipulation
Breaking Bad: A Dataset for Geometric Fracture and Reassembly
Bayesian Object Models for Robotic Interaction with Differentiable Probabilistic Programming
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
Retrospectives on the Embodied AI Workshop
Pseudo-Tractor Beam for Conductive Non-magnetic Objects using Magnetic Fields
Optimal Transport Policy Fusion for Learning Diverse Skills
LTR*: Rapid Replanning in Consecutive Pick-and-Place Tasks with Lazy Experience Graph
Learning Perceptual Concepts by Bootstrapping from Human Queries
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.
Generalized Bayesian Quadrature with Spectral Kernels
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Learning Efficient and Robust Ordinary Differential Equations via Invertible Neural Networks
Koopman Q-learning: Offline Reinforcement Learning via Symmetries of Dynamics
Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors
Modular Action Concept Grounding in Semantic Video Prediction
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Factory: Fast Contact for Robotic Assembly
Diffeomorphic Transforms for Generalised Imitation Learning

🏆 Best Paper Award

Correcting Robot Plans with Natural Language Feedback
Adaptive Model Predictive Control by Learning Classifiers
Adaptive Manipulation of Conductive, Non-magnetic Objects via a Continuous Model of Magnetically Induced Force and Torque
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks
Model Predictive Control for Fluid Human-to-Robot Handovers
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
Value Gradient weighted Model-Based Reinforcement Learning
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning
DefGraspSim: Physics-based simulation of grasp outcomes on 3D deformable objects
Accelerated Policy Learning with Parallel Differentiable Simulation
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Stein ICP for Uncertainty Estimation in Point Cloud Matching
Neural Hybrid Automata: Learning Dynamics With Multiple Modes and Stochastic Transitions
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning
Dynamic Bottleneck for Robust Self-Supervised Exploration
Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots

🏆 Best Paper Finalist

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects
S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
Predicting Stable Configurations for Semantic Placement of Novel Objects
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
Parallelised Diffeomorphic Sampling-based Motion Planning
Language Grounding with 3D Objects
In Vitro Simulation of Shoulder Motion Driven by 3D Scapular and Humeral Kinematics
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization
CLIPort: What and Where Pathways for Robotic Manipulation
Adaptively Exploiting Local Structure with Generalised Multi-Trees Motion Planning
A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
Uniform Priors for Data-Efficient Transfer
Dexterous magnetic manipulation of conductive non-magnetic objects
Trajectory Generation in New Environments from Past Experiences
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
Probabilistic Trajectory Prediction with Structural Constraints
PlannerFlows: Learning Motion Samplers with Normalising Flows
Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos
Value Iteration in Continuous Actions, States and Time.
Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning
Robust Value Iteration for Continuous Control Tasks.
Principled Exploration via Optimistic Bootstrapping and Backward Induction.
No-Regret Approximate Inference via Bayesian Optimisation
NeRP: Neural Rearrangement Planning for Unknown Objects
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels.
Dual Online Stein Variational Inference for Control and Dynamics
DiSeCT: A differentiable simulation engine for autonomous robotic cutting

🏆 Best Student Paper

DefGraspSim: Simulation-based grasping of 3D deformable objects

🏆 Best Workshop Paper

Coach-Player Multi-agent Reinforcement Learning for Dynamic Team Composition.

🏆 Long Talk

BORE: Bayesian Optimization by Density-Ratio Estimation
A differentiable simulator for robotic cutting
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
Reactive Human-to-Robot Handovers of Arbitrary Objects

🏆 Best Paper Award on Human-Robot Interaction

Object Rearrangement Using Learned Implicit Collision Functions
LEAF: Latent Exploration Along the Frontier.
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
Generalized Nonlinear and Finsler Geometry for Robotics
Fast Uncertainty Quantification for Deep Object Pose Estimation
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Skill Transfer via Partially Amortized Hierarchical Planning
Conservative Safety Critics for Exploration
C-Learning: Horizon-Aware Cumulative Accessibility Estimation
Learning Composable Behavior Embeddings for Long-horizon Visual Navigation
Learning to Sit: Synthesizing Human-Chair Interactions via Hierarchical Control
DIBS: Diversity inducing Information Bottleneck in Model Ensembles
A Modeling Framework for Jamming Structures
Unsupervised Disentanglement of Pose, Appearance and Background from Images and Videos
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
In-Hand Object-Dynamics Inference using Tactile Fingertips
Sparse Spectrum Warped Input Measures for Nonstationary Kernel Learning
D2RL: Deep Dense Architectures in Reinforcement Learning
Curriculum By Smoothing

🏆 Spotlight

Counterfactual Data Augmentation using Locally Factored Dynamics

🏆 Outstanding Paper Award at OOL Workshop at ICML 2020

Causal Discovery in Physical Systems from Videos.
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
STReSSD: Sim-to-Real from Sound for Stochastic Dynamics
Stein Variational Model Predictive Control
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
RMP2 : A Differentiable Policy Class with Control-Theoretic Guarantees
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
A User's Guide to Calibrating Robotics Simulators
Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter
Online BayesSim for Combined Simulator Parameter Inference and Policy Improvement
Multi-Fingered Active Grasp Learning
Human Grasp Classification for Reactive Human-to-Robot Handovers
Heteroscedastic Bayesian Optimization for Stochastic Model Predictive Control
Collaborative Interaction Models for Optimized Human-Robot Teamwork
\"Good Robot\": Efficient Reinforcement Learning for Multi-Step Visual Tasks
Ocean: Online Task Inference for Compositional Tasks with Context Adaptation
Active learning of conditional mean embeddings via Bayesian optimisation
Semi-Supervised StyleGAN for Disentanglement Learning
Online Domain Adaptation for Occupancy Mapping
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework
Angular Visual Hardness
A Programmable Approach To Model Compression
Toward Sim-to-Real Directional Semantic Grasping
Self-supervised 6D Object Pose Estimation for Robot Manipulation
Scaling Local Control to Large-Scale Topological Navigation
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
Motion Reasoning for Goal-Based Imitation Learning
Model-based Generalization under Parameter Uncertainty using Path Integral Control
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation
Information Theoretic Model Predictive Q-Learning
Inferring the Material Properties of Granular Media for Robotic Tasks
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Implicit Reinforcement without Interaction at Scale: Leveraging Large-Scale Robot Manipulation Datasets for Control
Guided Uncertainty-Aware Policy Optimization: Combining Model-Free and Model-Based Strategies for Sample-Efficient Learning
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
Estimating Motion Uncertainty with Bayesian ICP
DISCO: Double Likelihood-Free Inference Stochastic Control
DexPilot: Depth-Based Teleoperation of Dexterous Robotic Hand-Arm System
Controlling Assistive Robots with Learned Latent Actions
Camera-to-Robot Pose Estimation from a Single Image
6-DOF Grasping for Target-driven Object Manipulation in Clutter

🏆 Finalist for Best Student Paper Award and Best Paper in Robot Manipulation

“Zero-shot” Task Execution through Learning of Pixel-Based Action Preconditions
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Optimal Transport for Distribution Adaptation in Bayesian Hilbert Maps
InfoCNF: An Efficient Conditional Continuous Normalizing Flow with Adaptive Solvers
Distributional Bayesian optimisation for variational inference on black-box simulators
Combining Model-Free and Model-Based Strategies for Sample-Efficient Reinforcement Learning

🏆 Best Workshop Paper Award

Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks
The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
Spatiotemporal Learning of Directional Uncertainty in Urban Environments
Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity

🏆 Best Cognitive Science Paper Award Finalist

Representing Robot Task Plans as Robust Logical-Dynamical Systems
Learning to Plan Hierarchically from Curriculum
Early Fusion for Goal Directed Robotic Vision

🏆 IROS RoboCup Best Paper Award Finalist

Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Learning to Manipulate Object Collections Using Grounded State Representations
Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
Conditional Driving from Natural Language Instructions
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
Video Interpolation and Prediction with Unsupervised Landmarks
Periodic Kernel Approximation by Index Set Fourier Series Features
Predictor Corrector Policy Optimization
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators
Bayesian Deconditional Kernel Mean Embeddings
Robust Learning of Tactile Force Estimation through Robot Interaction
Occupancy map building through Bayesian exploration
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Riemannian Motion Policies