Publications

Our publications provide insight into some of our leading-edge research.

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2021

Interpreting and predicting tactile signals for the SynTouch BioTac
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
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
Selected for Oral Presentation
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
Joint Space Control via Deep Reinforcement Learning
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
Multi-View Fusion for Multi-Level Robotic Scene Understanding
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
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
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Clemens Eppner, Arsalan Mousavian, Dieter Fox
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
Fast Uncertainty Quantification for Deep Object Pose Estimation
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Anima Anandkumar, Yuke Zhu
NViSII: A Scriptable Tool for Photorealistic Image Generation
Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald
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
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
Transferable Task Execution from Pixels through Deep Planning Domain Learning
Kei Kase, Chris Paxton, Hammad Mazhar, Tetsuya Ogata, Dieter Fox

2018

Fluidic Elastomer Actuators for Haptic Interactions in Virtual Reality
Jose Barreiros, Houston Claure, Bryan Peele, Omer Shapira, Josef Spjut, David Luebke, Malte Jung, Robert Shepherd
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
Jonathan Tremblay, Thang To, Bala Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
Learning Rigidity in Dynamic Scenes with a Moving Camera for 3D Motion Field Estimation
Zhaoyang Lv, Kihwan Kim, Alejandro Troccoli, Deqing Sun, James M. Rehg, Jan Kautz
Domain Adaptation for Semantic Segmentation via Class-Balanced Self-Training
Yang Zou, Zhiding Yu, B. V. K. Vijaya Kumar, Jinsong Wang
Simultaneous Edge Alignment and Learning
Zhiding Yu, Weiyang Liu, Yang Zou, Chen Feng, Srikumar Ramalingam, B. V. K. Vijaya Kumar, Jan Kautz
HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration
Ben Eckart, Kihwan Kim, Jan Kautz
EOE: Expected Overlap Estimation over Unstructured Point Cloud Data
Ben Eckart, Kihwan Kim, Jan Kautz
Region Growing Curriculum Generation for Reinforcement Learning
Artem Molchanov, Karol Hausman, Stan Birchfield, Gaurav Sukhatme
Geometry-Aware Learning of Maps for Camera Localization
Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz
Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation
Jonathan Tremblay, Thang To, Stan Birchfield
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox
Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
Jonathan Tremblay, Thang To, Artem Molchanov, Stephen Tyree, Jan Kautz, Stan Birchfield
A Variable Shape and Variable Stiffness Controller for Haptic Virtual Interactions
Benjamin C. Mac Murray, Bryan N. Peele, Patricia Xu, Josef Spjut, Omer Shapira, David Luebke, Robert F. Shepherd
On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach
Nikolai Smolyanskiy, Alexey Kamenev, Stan Birchfield
Riemannian Motion Policies
Nathan Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, Dieter Fox