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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

Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations

Henry Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox

Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers

Nikita Dvornik, Isma Hadji, Konstantinos G. Derpanis, Animesh Garg, Allan Douglas Jepson

Dynamic Bottleneck for Robust Self-Supervised Exploration

Chenjia Bai, Lingxiao Wang, Lei Han, Animesh Garg, Jianye Hao, Peng Liu, Zhaoran Wang.