Arsalan Mousavian | Research

Arsalan Mousavian

Publications

2023

ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models

Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg

The International Conference on Robotics and Automation (ICRA)

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

International Conference on Robotics and Automation (ICRA)

2022

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

The Conference on Robot Learning (CoRL) 2022

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, et al.

Ifor: Iterative flow minimization for robotic object rearrangement

Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022

2021

Interpreting and predicting tactile signals for the SynTouch BioTac

Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

International Journal of Robotics Research (IJRR) 2021

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox

Conference on Robot Learning 2021

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

Conference on Robot Learning (CoRL) 2021

Selected for Oral Presentation

Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections

Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox

International Conference on Robotics and Automation (ICRA) 2021

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

Clemens Eppner, Arsalan Mousavian, Dieter Fox

2021 IEEE International Conference on Robotics and Automation (ICRA)

RGB-D Local Implicit Function for Depth Completion of Transparent Objects

Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox

Reactive Human-to-Robot Handovers of Arbitrary Objects

Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox

ICRA 2021

Best Paper in Human-Robot Interaction, ICRA 2021

Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes

Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, Dieter Fox

Object Rearrangement Using Learned Implicit Collision Functions

Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox

2020

6-DOF Grasping for Target-driven Object Manipulation in Clutter

Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox

Best Paper Finalist in Robot Manipulation, ICRA 2020, Best Student Paper Finalist, ICRA 2020

Self-supervised 6D Object Pose Estimation for Robot Manipulation

Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox

2020 IEEE International Conference on Robotics and Automation (ICRA)

2019

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation

Arsalan Mousavian, Clemens Eppner, Dieter Fox

A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set

Clemens Eppner, Arsalan Mousavian, Dieter Fox

The International Symposium of Robotics Research (ISSR)