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DexGrasp-1M: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation

Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, Animesh Garg

DeXtreme: Transferring Agile In-hand Manipulation from Simulation to Reality

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

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

Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang

Global and Reactive Motion Generation with Geometric Fabric Command Sequences

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

JacobiNeRF: NeRF Shaping with Mutual Information Gradients

Xiaomeng Xu, Yanchao Yang, Kaichun Mo, Boxiao Pan, Li Yi, Leonidas Guibas

Learning Human-to-Robot Handovers from Point Clouds

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

MVTrans: Multi-View Perception of Transparent Objects

Yi Ru Wang, Yuchi Zhao, Haoping XU*, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, Animesh Garg

nerf2nerf: Pairwise Registration of Neural Radiance Fields

Leili Goli*, Daniel Rebain, Sara Sabour, Animesh Garg, Andrea Tagliasacchi

Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield

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

Yixuan Huang, Adam Conkey, Tucker Hermans