Publications

December, 2024 Neurips 2024
MeMo: Meaningful, Modular Controllers via Noise Injection
arXiv
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
SPIRE: Synergistic Planning, Imitation, and Reinforcement for Long-Horizon Manipulation
Website
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Website
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
Paper Website
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
arXiv Website
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
Discovering Robotic Interaction Modes with Discrete Representation Learning
Website
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
November, 2024 Proceedings of the Conference on Robot Learning (CoRL)
Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes
arXiv
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Stein Movement Primitives for Adaptive Multi-Modal Trajectory Generation
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning
arXiv Website
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting
Website
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Learning for Kinodynamic Tree Expansion
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Paper Website
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Fast Explicit-Input Assistance for Teleoperation in Clutter
October, 2024 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Paper Website
July, 2024 Proceedings of Robotics: Science and Systems (RSS)
URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
July, 2024 Proceedings of Robotics: Science and Systems (RSS)
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
arXiv
July, 2024 Proceedings of Robotics: Science and Systems (RSS)
Stein Variational Ergodic Search
July, 2024 UAI 2024
Stein Random Feature Regression
July, 2024 Proceedings of the Conference on Learning for Dynamics and Control (L4DC)
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following
July, 2024 Proceedings of Robotics: Science and Systems (RSS)
RVT-2: Learning Precise Manipulation from Few Demonstrations
July, 2024 SIGGRAPH 2024 (ToG)
HAISOR: Human-Aware Indoor Scene Optimization via Deep Reinforcement Learning
Paper Video Website
July, 2024 Proceedings of the International Conference on Machine Learning (ICML)
BeigeMaps: Behavioral Eigenmaps for Reinforcement Learning from Images
July, 2024 Proceedings of Robotics: Science and Systems (RSS)
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
July, 2024 Proceedings of the International Conference on Machine Learning (ICML)
Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation
Paper
June, 2024 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Summarize the Past to Predict the Future: Natural Language Descriptions of Context Boost Multimodal Object Interaction Anticipation
June, 2024 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
Website
June, 2024 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Category-Level Multi-Part Multi-Joint 3D Shape Assembly
arXiv
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
arXiv Website
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation
arXiv Website
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Point Cloud Models Improve Visual Robustness in Robotic Learners
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models
arXiv Website
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity
Website
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
HandyPriors: Physically Consistent Perception of Hand-Object Interactions with Differentiable Priors
arXiv Website
May, 2024 AISTATS 2024
Fast Fourier Bayesian Quadrature
May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation
arXiv Website
January, 2024 RA-L
Pick and Place Planning is Better than Pick Planning then Place Planning
January, 2024 T-RO
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
arXiv
December, 2023 NeurIPS 2023
Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects
December, 2023 RA-L
Learning to Simulate Tree-Branch Dynamics for Manipulation
arXiv
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots
Website
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
SCONE: A Food Scooping Robot Learning Framework with Active Perception
Paper
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
RVT: Robotic View Transformer for 3D Object Manipulation
Website
November, 2023 IJRR
Path Signatures for Diversity in Probabilistic Trajectory Optimisation
arXiv
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
arXiv Website
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
M2T2: Multi-task Masked Transformer for Object-centric Pick-and-Place
Website
November, 2023 Autonomous Robots
Learning to Summarize and Answer Questions about a Virtual Robot's Past Actions
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Imitating Task and Motion Planning with Visuomotor Transformers
arXiv Website
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Human-In-The-Loop Task and Motion Planning for Imitation Learning
arXiv Website
November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Composable Part-Based Manipulation
Paper Website
October, 2023 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
October, 2023 Proceedings of the International Conference on Computer Vision (ICCV)
COPILOT: Human Collision Prediction and Localization from Egocentric Videos
arXiv Video Website
October, 2023 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks
arXiv Website
July, 2023 Proceedings of the International Conference on Machine Learning (ICML)
Toward Learning Geometric Eigen-Lengths Crucial for Fitting Tasks
July, 2023 Proceedings of Robotics: Science and Systems (RSS)
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
July, 2023 Proceedings of Robotics: Science and Systems (RSS)
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Website
July, 2023 Proceedings of Robotics: Science and Systems (RSS)
IndustReal: Transferring Contact-Rich Assembly from Simulation to Reality
arXiv Video Website
July, 2023 Proceedings of Robotics: Science and Systems (RSS)
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
July, 2023 Proceedings of Robotics: Science and Systems (RSS)
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
Website
June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Self-Supervised Learning of Action Affordances as Interaction Modes
Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
arXiv
June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
nerf2nerf: Pairwise Registration of Neural Radiance Fields
PDF Video Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
MVTrans: Multi-View Perception of Transparent Objects
Website
June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Learning Human-to-Robot Handovers from Point Clouds

🏆 Highlight

June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
JacobiNeRF: NeRF Shaping with Mutual Information Gradients
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Global and Reactive Motion Generation with Geometric Fabric Command Sequences
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
arXiv Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
DeXtreme: Transferring Agile In-hand Manipulation from Simulation to Reality
arXiv Video Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
DexGrasp-1M: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Video Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
CuRobo: Parellelized Collision-Free Robot Motion Generation
arXiv Video Website
June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
May, 2023 ICLR 2023
SlotFormer: Unsupervised Visual Dynamics Simulation with Object-Centric Models
Paper
May, 2023 ICLR 2023
Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward
Paper
May, 2023 ICLR 2023
DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulation
Paper Video Website
April, 2023 RA-L / IROS 2023
ORBIT : A Unified Simulation Framework for Interactive Robot Learning Environments
arXiv Website
December, 2022 RAL
Visual-Tactile Surface Estimation to Enable Multi-fingered, Precision Grasps
arXiv
December, 2022 CoRL Workshop on Language and Robotics
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
arXiv Website
December, 2022 Neurips 2022
SMPL: Simulated Industrial Manufacturing and Process Control Learning Environments
Paper Website
December, 2022 CoRL Workshop Learning, Perception, and Abstraction for Long-Horizon Planning
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

🏆 Best workshop paper finalist

arXiv
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments
Paper Website
December, 2022 Workshop on Language and Robotics at CoRL 2022
RoboReport: Summarizing a virtual robot's past actions in natural language
Paper
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
Paper Website
December, 2022 Neurips 2022
Non-deep Networks
arXiv Website
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Paper
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Motion Policy Networks
Paper
December, 2022 Neurips 2022
MoCoDA: Model-based Counterfactual Data Augmentation
Paper
December, 2022 Neurips 2022
MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge

🏆 Outstanding paper

Paper
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
MegaPose: 6D Pose Estimationof Novel Objects via Render & Compare
Paper
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Paper
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Learning and Retrieval from Prior Data for Skill-based Imitation Learning
Paper
December, 2022 5th Robot Learning Workshop: Trustworthy Robotics @ Neurips 2022
Insights towards Sim2Real Contact-Rich Manipulation
Video
December, 2022 Neurips 2022
Breaking Bad: A Dataset for Geometric Fracture and Reassembly
Paper Website
December, 2022 Proceedings of the Conference on Robot Learning (CoRL)
Bayesian Object Models for Robotic Interaction with Differentiable Probabilistic Programming
Paper Website
October, 2022 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
arXiv Website
October, 2022 ArXiv 2022
Retrospectives on the Embodied AI Workshop
arXiv
October, 2022 RA-L / IROS 2022
Pseudo-Tractor Beam for Conductive Non-magnetic Objects using Magnetic Fields
October, 2022 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Optimal Transport Policy Fusion for Learning Diverse Skills
arXiv
October, 2022 RA-L / IROS 2022
LTR*: Rapid Replanning in Consecutive Pick-and-Place Tasks with Lazy Experience Graph
arXiv
October, 2022 RA-L / IROS 2022
Learning Perceptual Concepts by Bootstrapping from Human Queries
arXiv Video Website
October, 2022 ECCV 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
October, 2022 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI
October, 2022 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.
arXiv Website
August, 2022 UAI 2022
Generalized Bayesian Quadrature with Spectral Kernels
Paper
August, 2022 Autonomous Robots
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
arXiv
July, 2022 Proceedings of the International Conference on Machine Learning (ICML)
Learning Efficient and Robust Ordinary Differential Equations via Invertible Neural Networks
Paper
July, 2022 Proceedings of the International Conference on Machine Learning (ICML)
Koopman Q-learning: Offline Reinforcement Learning via Symmetries of Dynamics
Paper
June, 2022 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors
Paper Video Website
June, 2022 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Modular Action Concept Grounding in Semantic Video Prediction
Paper Website
June, 2022 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
arXiv Website
June, 2022 WAFR 2022
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
arXiv Website
June, 2022 Proceedings of Robotics: Science and Systems (RSS)
Factory: Fast Contact for Robotic Assembly
Video Website
June, 2022 Proceedings of the Conference on Learning for Dynamics and Control (L4DC)
Diffeomorphic Transforms for Generalised Imitation Learning

🏆 Best Paper Award

Paper
June, 2022 Proceedings of Robotics: Science and Systems (RSS)
Correcting Robot Plans with Natural Language Feedback
Website
June, 2022 Proceedings of the Conference on Learning for Dynamics and Control (L4DC)
Adaptive Model Predictive Control by Learning Classifiers
Paper
June, 2022 Proceedings of Robotics: Science and Systems (RSS)
Adaptive Manipulation of Conductive, Non-magnetic Objects via a Continuous Model of Magnetically Induced Force and Torque
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
arXiv
May, 2022 International Conference on Autonomous Agents and Multiagent Systems (AAAMAS)
Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation
PDF Video Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
arXiv Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
arXiv
May, 2022 ICRA 2022/ RAL
PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks
arXiv
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Model Predictive Control for Fluid Human-to-Robot Handovers
arXiv Video Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
arXiv
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds
Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
arXiv
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
arXiv Video Website
May, 2022 ICRA 2022/ RAL
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
arXiv Website
May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
arXiv
April, 2022 ICLR 2022
Value Gradient weighted Model-Based Reinforcement Learning
Paper
April, 2022 RA-L
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
arXiv
April, 2022 ICLR 2022
Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning
Paper
April, 2022 RA-L Special Issue
DefGraspSim: Physics-based simulation of grasp outcomes on 3D deformable objects
Website
April, 2022 ICLR 2022
Accelerated Policy Learning with Parallel Differentiable Simulation
Paper Website
April, 2022 RA-L Special Issue
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
December, 2021 IEEE Robotics and Automation Letters (RA-L)
Stein ICP for Uncertainty Estimation in Point Cloud Matching
December, 2021 Neurips 2021
Neural Hybrid Automata: Learning Dynamics With Multiple Modes and Stochastic Transitions
arXiv
December, 2021 Neurips 2021 Track Datasets and Benchmarks
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning
arXiv
December, 2021 Neurips 2021
Dynamic Bottleneck for Robust Self-Supervised Exploration
December, 2021 Neurips 2021
Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers
arXiv
December, 2021 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning @Neurips 2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
PDF Website
November, 2021 ISMR 2021
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots

🏆 Best Paper Finalist

arXiv
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
Paper
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
arXiv Website
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects
Paper
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics
Paper
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
Predicting Stable Configurations for Semantic Placement of Novel Objects
Paper
November, 2021 ISMR 2021
Planning Sensing Sequences for Subsurface 3D Tumor Mapping
arXiv
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
Parallelised Diffeomorphic Sampling-based Motion Planning
Paper
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
Language Grounding with 3D Objects
arXiv Website
November, 2021 Journal of Biomechanical Engineering
In Vitro Simulation of Shoulder Motion Driven by 3D Scapular and Humeral Kinematics
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
arXiv Website
November, 2021 AAAI-HRI 2021
Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization
arXiv
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
CLIPort: What and Where Pathways for Robotic Manipulation
November, 2021 IEEE Robotics and Automation Letters (RA-L)
Adaptively Exploiting Local Structure with Generalised Multi-Trees Motion Planning
November, 2021 Proceedings of the Conference on Robot Learning (CoRL)
A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
Paper
October, 2021 CVPRW 2021
Uniform Priors for Data-Efficient Transfer
arXiv
October, 2021 Nature
Dexterous magnetic manipulation of conductive non-magnetic objects
Paper Website
September, 2021 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Trajectory Generation in New Environments from Past Experiences
September, 2021 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
September, 2021 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Probabilistic Trajectory Prediction with Structural Constraints
September, 2021 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PlannerFlows: Learning Motion Samplers with Normalising Flows
September, 2021 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos
Paper
July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
Value Iteration in Continuous Actions, States and Time.
arXiv Website
July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning
arXiv
July, 2021 Proceedings of Robotics: Science and Systems (RSS)
Robust Value Iteration for Continuous Control Tasks.
arXiv Website
July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
Principled Exploration via Optimistic Bootstrapping and Backward Induction.
arXiv
July, 2021 UAI 2021
No-Regret Approximate Inference via Bayesian Optimisation
July, 2021 Proceedings of Robotics: Science and Systems (RSS)
NeRP: Neural Rearrangement Planning for Unknown Objects
July, 2021 Proceedings of Robotics: Science and Systems (RSS)
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels.
arXiv Website
July, 2021 Proceedings of Robotics: Science and Systems (RSS)
Dual Online Stein Variational Inference for Control and Dynamics
arXiv Video
July, 2021 Proceedings of Robotics: Science and Systems (RSS)
DiSeCT: A differentiable simulation engine for autonomous robotic cutting

🏆 Best Student Paper

PDF Video Website
July, 2021 Workshop on Deformable Object Simulation in Robotics @ RSS 2021
DefGraspSim: Simulation-based grasping of 3D deformable objects

🏆 Best Workshop Paper

Website
July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
Coach-Player Multi-agent Reinforcement Learning for Dynamic Team Composition.

🏆 Long Talk

arXiv
July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
BORE: Bayesian Optimization by Density-Ratio Estimation
arXiv Video Website
July, 2021 Workshop on Deformable Object Simulation in Robotics @ RSS 2021
A differentiable simulator for robotic cutting
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Website
June, 2021 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Reactive Human-to-Robot Handovers of Arbitrary Objects

🏆 Best Paper Award on Human-Robot Interaction

arXiv Video Website
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Object Rearrangement Using Learned Implicit Collision Functions
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
LEAF: Latent Exploration Along the Frontier.
arXiv
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
Paper
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Generalized Nonlinear and Finsler Geometry for Robotics
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Fast Uncertainty Quantification for Deep Object Pose Estimation
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Paper
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Dynamics Randomization Revisited: A Case Study for Quadrupedal Locomotion
arXiv
June, 2021 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
arXiv Video Website
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
June, 2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Website
May, 2021 ICLR 2021
Skill Transfer via Partially Amortized Hierarchical Planning
Paper
May, 2021 ICLR 2021
Conservative Safety Critics for Exploration
arXiv
May, 2021 ICLR 2021
C-Learning: Horizon-Aware Cumulative Accessibility Estimation
Paper
April, 2021 RA-L
Learning Composable Behavior Embeddings for Long-horizon Visual Navigation
February, 2021 AAAI 2021
Learning to Sit: Synthesizing Human-Chair Interactions via Hierarchical Control
arXiv Video
February, 2021 AAAI 2021
DIBS: Diversity inducing Information Bottleneck in Model Ensembles
arXiv
February, 2021 Advanced Functional Materials
A Modeling Framework for Jamming Structures
January, 2021 PAMI TC
Unsupervised Disentanglement of Pose, Appearance and Background from Images and Videos
arXiv
January, 2021 IJRR
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
Website
January, 2021 TRO + ICRA 2021
In-Hand Object-Dynamics Inference using Tactile Fingertips
Website
December, 2020 NeurIPS 2020 (virtual)
Sparse Spectrum Warped Input Measures for Nonstationary Kernel Learning
December, 2020 NeurIPS 2020 - Deep RL Workshop
D2RL: Deep Dense Architectures in Reinforcement Learning
arXiv
December, 2020 NeurIPS 2020 (virtual)
Curriculum By Smoothing

🏆 Spotlight

arXiv
December, 2020 NeurIPS 2020 (virtual)
Counterfactual Data Augmentation using Locally Factored Dynamics

🏆 Outstanding Paper Award at OOL Workshop at ICML 2020

arXiv
December, 2020 NeurIPS 2020 (virtual)
Causal Discovery in Physical Systems from Videos.
arXiv Website
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
STReSSD: Sim-to-Real from Sound for Stochastic Dynamics
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
Stein Variational Model Predictive Control
November, 2020 T-ASE
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
arXiv
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
RMP2 : A Differentiable Policy Class with Control-Theoretic Guarantees
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
arXiv
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
November, 2020 Proceedings of the Conference on Robot Learning (CoRL)
A User's Guide to Calibrating Robotics Simulators
October, 2020 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter
October, 2020 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Online BayesSim for Combined Simulator Parameter Inference and Policy Improvement
October, 2020 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Multi-Fingered Active Grasp Learning
arXiv
October, 2020 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Human Grasp Classification for Reactive Human-to-Robot Handovers
arXiv Video Website
October, 2020 IEEE Robotics and Automation Letters (RA-L)
Heteroscedastic Bayesian Optimization for Stochastic Model Predictive Control
October, 2020 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Collaborative Interaction Models for Optimized Human-Robot Teamwork
arXiv Video Website
October, 2020 IROS 2020 + R-AL
\"Good Robot\": Efficient Reinforcement Learning for Multi-Step Visual Tasks
August, 2020 UAI 2020 (virtual)
Ocean: Online Task Inference for Compositional Tasks with Context Adaptation
arXiv Video Website
August, 2020 UAI 2020 (virtual)
Active learning of conditional mean embeddings via Bayesian optimisation
July, 2020 ICML 2020 (virtual)
Semi-Supervised StyleGAN for Disentanglement Learning
arXiv
July, 2020 RSS 2020 (virtual)
Online Domain Adaptation for Occupancy Mapping
July, 2020 RSS 2020 (virtual)
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
arXiv Video
July, 2020 RSS 2020 (virtual)
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework
PDF Video
July, 2020 ICML 2020 (virtual)
Angular Visual Hardness
arXiv
July, 2020 IEEE MICRO 2020
A Programmable Approach To Model Compression
arXiv Website
June, 2020 ICRA 2020 (virtual)
Toward Sim-to-Real Directional Semantic Grasping
arXiv Video
June, 2020 ICRA 2020 (virtual)
Self-supervised 6D Object Pose Estimation for Robot Manipulation
Video
June, 2020 ICRA 2020 (virtual)
Scaling Local Control to Large-Scale Topological Navigation
arXiv Video
June, 2020 ICRA 2020 (virtual)
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
June, 2020 ICRA 2020 (virtual)
Motion Reasoning for Goal-Based Imitation Learning
June, 2020 ICRA 2020 (virtual)
Model-based Generalization under Parameter Uncertainty using Path Integral Control
Video
June, 2020 CVPR 2020 (virtual)
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation
June, 2020 L4DC 2020 (virtual)
Information Theoretic Model Predictive Q-Learning
arXiv
June, 2020 ICRA 2020 (virtual)
Inferring the Material Properties of Granular Media for Robotic Tasks
arXiv Video
June, 2020 ICRA 2020 (virtual)
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
June, 2020 ICRA 2020 (virtual)
Implicit Reinforcement without Interaction at Scale: Leveraging Large-Scale Robot Manipulation Datasets for Control
Video
June, 2020 ICRA 2020 (virtual)
Guided Uncertainty-Aware Policy Optimization: Combining Model-Free and Model-Based Strategies for Sample-Efficient Learning
June, 2020 L4DC 2020 (virtual)
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
arXiv
June, 2020 ICRA 2020 (virtual)
Estimating Motion Uncertainty with Bayesian ICP
arXiv
June, 2020 ICRA 2020 (virtual)
DISCO: Double Likelihood-Free Inference Stochastic Control
arXiv
June, 2020 ICRA 2020 (virtual)
DexPilot: Depth-Based Teleoperation of Dexterous Robotic Hand-Arm System
arXiv Website
June, 2020 ICRA 2020 (virtual)
Controlling Assistive Robots with Learned Latent Actions
arXiv
June, 2020 ICRA 2020 (virtual)
Camera-to-Robot Pose Estimation from a Single Image
Video
June, 2020 ICRA 2020 (virtual)
6-DOF Grasping for Target-driven Object Manipulation in Clutter

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

June, 2020 ICRA 2020 (virtual)
“Zero-shot” Task Execution through Learning of Pixel-Based Action Preconditions
December, 2019 WAFR 2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation
arXiv
December, 2019 AABI 2019
Optimal Transport for Distribution Adaptation in Bayesian Hilbert Maps
December, 2019 Tech. report/ICLR 2020
InfoCNF: An Efficient Conditional Continuous Normalizing Flow with Adaptive Solvers
arXiv
December, 2019 AABI 2019
Distributional Bayesian optimisation for variational inference on black-box simulators
December, 2019 Workshop on Robot Learning: Control and Interaction in the Real World @NeurIPS 2019
Combining Model-Free and Model-Based Strategies for Sample-Efficient Reinforcement Learning

🏆 Best Workshop Paper Award

PDF
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks
arXiv
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
arXiv
November, 2019 IROS/RAL 2019
Spatiotemporal Learning of Directional Uncertainty in Urban Environments
PDF
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity

🏆 Best Cognitive Science Paper Award Finalist

arXiv Website
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Representing Robot Task Plans as Robust Logical-Dynamical Systems
arXiv
November, 2019 IEEE Robotics and Automation Letters (RA-L)
Learning to Plan Hierarchically from Curriculum
arXiv
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Early Fusion for Goal Directed Robotic Vision

🏆 IROS RoboCup Best Paper Award Finalist

arXiv
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning
arXiv
November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
arXiv Website
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
arXiv
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Learning to Manipulate Object Collections Using Grounded State Representations
arXiv
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction
arXiv
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Conditional Driving from Natural Language Instructions
October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
arXiv
October, 2019 Springer Proceedings of the International Symposium of Robotics Research (ISRR)
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set
Website
October, 2019 Proceedings of the International Conference on Computer Vision (ICCV)
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
arXiv Video Website
September, 2019 Tech. report/ICLR 2020
Video Interpolation and Prediction with Unsupervised Landmarks
arXiv
July, 2019 UAI 2019
Periodic Kernel Approximation by Index Set Fourier Series Features
PDF
June, 2019 Proceedings of the International Conference on Machine Learning (ICML)
Predictor Corrector Policy Optimization
arXiv
June, 2019 Proceedings of Robotics: Science and Systems (RSS)
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
arXiv
June, 2019 Proceedings of Robotics: Science and Systems (RSS)
BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators
arXiv
June, 2019 Proceedings of the International Conference on Machine Learning (ICML)
Bayesian Deconditional Kernel Mean Embeddings
arXiv
May, 2019 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Robust Learning of Tactile Force Estimation through Robot Interaction
arXiv
May, 2019 IJRR
Occupancy map building through Bayesian exploration
Paper
September, 2018 Proceedings of the Conference on Robot Learning (CoRL)
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
arXiv Video Website
June, 2018 Proceedings of Robotics: Science and Systems (RSS)
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
PDF
March, 2018 ArXiv
Riemannian Motion Policies
arXiv