Publications

May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
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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
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May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Point Cloud Models Improve Visual Robustness in Robotic Learners
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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
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May, 2024 AISTATS 2024
Fast Fourier Bayesian Quadrature
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May, 2024 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation
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January, 2024 RA-L
Pick and Place Planning is Better than Pick Planning then Place Planning
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January, 2024 T-RO
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
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December, 2023 NeurIPS 2023
Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
SCONE: A Food Scooping Robot Learning Framework with Active Perception
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
RVT: Robotic View Transformer for 3D Object Manipulation
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
M2T2: Multi-task Masked Transformer for Object-centric Pick-and-Place
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November, 2023 Autonomous Robots
Learning to Summarize and Answer Questions about a Virtual Robot's Past Actions
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Imitating Task and Motion Planning with Visuomotor Transformers
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Human-In-The-Loop Task and Motion Planning for Imitation Learning
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November, 2023 Proceedings of the Conference on Robot Learning (CoRL)
Composable Part-Based Manipulation
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October, 2023 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
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October, 2023 Proceedings of the International Conference on Computer Vision (ICCV)
COPILOT: Human Collision Prediction and Localization from Egocentric Videos
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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
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July, 2023 Proceedings of the International Conference on Machine Learning (ICML)
Toward Learning Geometric Eigen-Lengths Crucial for Fitting Tasks
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July, 2023 Proceedings of Robotics: Science and Systems (RSS)
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
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July, 2023 Proceedings of Robotics: Science and Systems (RSS)
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
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July, 2023 Proceedings of Robotics: Science and Systems (RSS)
IndustReal: Transferring Contact-Rich Assembly from Simulation to Reality
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July, 2023 Proceedings of Robotics: Science and Systems (RSS)
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
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July, 2023 Proceedings of Robotics: Science and Systems (RSS)
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
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June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Self-Supervised Learning of Action Affordances as Interaction Modes
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
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June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
nerf2nerf: Pairwise Registration of Neural Radiance Fields
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June, 2023 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
MVTrans: Multi-View Perception of Transparent Objects
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June, 2023 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
Learning Human-to-Robot Handovers from Point Clouds

🏆 Highlight

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

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

🏆 Outstanding paper

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

🏆 Best Paper Award

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June, 2022 Proceedings of Robotics: Science and Systems (RSS)
Correcting Robot Plans with Natural Language Feedback
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June, 2022 Proceedings of the Conference on Learning for Dynamics and Control (L4DC)
Adaptive Model Predictive Control by Learning Classifiers
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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
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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
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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
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May, 2022 International Conference on Autonomous Agents and Multiagent Systems (AAAMAS)
Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation
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May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
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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
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May, 2022 ICRA 2022/ RAL
PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks
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May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Model Predictive Control for Fluid Human-to-Robot Handovers
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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
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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
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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
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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
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May, 2022 ICRA 2022/ RAL
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
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May, 2022 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
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April, 2022 ICLR 2022
Value Gradient weighted Model-Based Reinforcement Learning
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April, 2022 RA-L
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
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April, 2022 ICLR 2022
Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning
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April, 2022 RA-L Special Issue
DefGraspSim: Physics-based simulation of grasp outcomes on 3D deformable objects
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April, 2022 ICLR 2022
Accelerated Policy Learning with Parallel Differentiable Simulation
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April, 2022 RA-L Special Issue
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
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December, 2021 IEEE Robotics and Automation Letters (RA-L)
Stein ICP for Uncertainty Estimation in Point Cloud Matching
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December, 2021 Neurips 2021
Neural Hybrid Automata: Learning Dynamics With Multiple Modes and Stochastic Transitions
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December, 2021 Neurips 2021 Track Datasets and Benchmarks
Isaac Gym: High Performance GPU Based Physics Simulation For Robot Learning
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December, 2021 Neurips 2021
Dynamic Bottleneck for Robust Self-Supervised Exploration
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December, 2021 Neurips 2021
Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers
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December, 2021 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning @Neurips 2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
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November, 2021 ISMR 2021
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots

🏆 Best Paper Finalist

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

🏆 Best Student Paper

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

🏆 Best Workshop Paper

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

🏆 Long Talk

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July, 2021 Proceedings of the International Conference on Machine Learning (ICML)
BORE: Bayesian Optimization by Density-Ratio Estimation
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July, 2021 Workshop on Deformable Object Simulation in Robotics @ RSS 2021
A differentiable simulator for robotic cutting
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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
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June, 2021 Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR)
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
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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

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

🏆 Spotlight

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

🏆 Outstanding Paper Award at OOL Workshop at ICML 2020

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

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June, 2020 ICRA 2020 (virtual)
“Zero-shot” Task Execution through Learning of Pixel-Based Action Preconditions
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December, 2019 WAFR 2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation
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December, 2019 AABI 2019
Optimal Transport for Distribution Adaptation in Bayesian Hilbert Maps
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December, 2019 Tech. report/ICLR 2020
InfoCNF: An Efficient Conditional Continuous Normalizing Flow with Adaptive Solvers
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December, 2019 AABI 2019
Distributional Bayesian optimisation for variational inference on black-box simulators
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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

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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
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November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
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November, 2019 IROS/RAL 2019
Spatiotemporal Learning of Directional Uncertainty in Urban Environments
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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

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

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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
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November, 2019 Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
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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
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Learning to Manipulate Object Collections Using Grounded State Representations
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
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October, 2019 Proceedings of the Conference on Robot Learning (CoRL)
Conditional Driving from Natural Language Instructions
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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
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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
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October, 2019 Proceedings of the International Conference on Computer Vision (ICCV)
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
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September, 2019 Tech. report/ICLR 2020
Video Interpolation and Prediction with Unsupervised Landmarks
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July, 2019 UAI 2019
Periodic Kernel Approximation by Index Set Fourier Series Features
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June, 2019 Proceedings of the International Conference on Machine Learning (ICML)
Predictor Corrector Policy Optimization
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June, 2019 Proceedings of Robotics: Science and Systems (RSS)
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
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June, 2019 Proceedings of Robotics: Science and Systems (RSS)
BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators
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June, 2019 Proceedings of the International Conference on Machine Learning (ICML)
Bayesian Deconditional Kernel Mean Embeddings
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May, 2019 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Robust Learning of Tactile Force Estimation through Robot Interaction
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May, 2019 IJRR
Occupancy map building through Bayesian exploration
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September, 2018 Proceedings of the Conference on Robot Learning (CoRL)
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
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June, 2018 Proceedings of Robotics: Science and Systems (RSS)
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
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March, 2018 ArXiv
Riemannian Motion Policies
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