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