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Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation

Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav Sukhatme

Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation

Rika Antonova, Ankur Handa

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

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

StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects

Weiyu Liu, Chris Paxton., Tucker Hermans, and Dieter Fox

A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation

Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg

Accelerated Policy Learning with Parallel Differentiable Simulation

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

DefGraspSim: Physics-based simulation of grasp outcomes on 3D deformable objects

Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning

Chenjia Bai, Lingxiao Wang, Zhuoran Yang, Zhi-Hong Deng, Animesh Garg, Peng Liu, Zhaoran Wang.

Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation

Fahira Afzal Maken, Fabio Ramos, Lionel Ott

Value Gradient weighted Model-Based Reinforcement Learning

Claas A Voelcker, Victor Liao, Animesh Garg, Amir-massoud Farahmand