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scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation

Clemens Eppner, Adithyavairavan Murali, Caelan Garrett, Rowland O'Flaherty, Tucker Hermans, Wei Yang, Dieter Fox

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty

Michael Noseworthy, Bingjie Tang, Bowen Wen, Ankur Handa, Nicholas Roy, Dieter Fox, Fabio Ramos, Yashraj Narang, Iretiayo Akinola

AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent

Tongzhou Mu, Yijie Guo, Jie Xu, Ankit Goyal, Hao Su, Dieter Fox, Animesh Garg

MeMo: Meaningful, Modular Controllers via Noise Injection

Megan Tjandrasuwita, Jie Xu, Armando Solar-Lezama, Wojciech Matusik

QueST: Self-Supervised Skill Abstractions for Learning Continuous Control

Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, Animesh Garg

Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning

Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam, Byron Boots, Dieter Fox

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics

Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk

DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning

Raven Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox

Discovering Robotic Interaction Modes with Discrete Representation Learning

Liquan Wang, Ankit Goyal, Haoping XU*, Animesh Garg

Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach

Jay Jacob, Shizhe Cai, Paulo Vinicius Koerich Borges, Tirthankar Bandyopadhyay, Fabio Ramos