Publications

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

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2022

Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch
Martin Matak, Tucker Hermans
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
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, et al.
Motion Policy Networks
Adam Fishman, Adithya Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox
6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
Stephen Tyree, Jonathan Tremblay, Stan Birchfield, et al.
Learning Perceptual Concepts by Bootstrapping from Human Queries
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Correcting Robot Plans with Natural Language Feedback
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
Ifor: Iterative flow minimization for robotic object rearrangement
Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithya Murali, Maya Cakmak, Dieter Fox
Factory: Fast Contact for Robotic Assembly
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
Accelerated Policy Learning with Parallel Differentiable Simulation
Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin
Transform2Act: Learning a Transform-and-Control Policy for Efficient Agent Design
Ye Yuan, Yuda Song, Zhengyi Luo, Wen Sun, Kris Kitani
Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nister, Nikolai Smolyanskiy
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian Williams
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

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