Publications

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

Filters

Filters

Publication Year

Research Areas

Events

2025

Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Pérez D’Arpino , Dieter Fox, Julie Shah
Cosmos Transfer 1: World-to-World Transfer with Adaptive Multi-Control for Physical AI
Ming-Yu Liu
Cosmos-Reason 1: From Physical AI Common Sense to Embodied Decisions
Tsung-Yi Lin, Ming-Yu Liu
NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots
Yuke Zhu, Linxi "Jim" Fan, NVIDIA GEAR Team
Principles and guidelines for evaluating social robot navigation algorithms
Anthony Francis*, Claudia Pérez D’Arpino*, CHENGSHU LI, FEI XIA, ALEXANDRE ALAHI, RACHID ALAMI, ANIKET BERA, ABHIJAT BISWAS, JOYDEEP BISWAS, ROHAN CHANDRA, HAO-TIEN LEWIS CHIANG, MICHAEL EVERETT, SEHOON HA, JUSTIN HART, JONATHAN P. HOW, HARESH KARNAN, TSANG-WEI EDWARD LEE, LUIS J. MANSO, REUTH MIRSKY, SÖREN PIRK, PHANI TEJA SINGAMANENI, PETER STONE, ADA V. TAYLOR, PETER TRAUTMAN, NATHAN TSOI, MARYNEL VÁZQUEZ, XUESU XIAO, PENG XU, NAOKI YOKOYAMA, ALEXANDER TOSHEV, ROBERTO MARTÍN-MARTÍN
Cosmos World Foundation Model Platform for Physical AI
Ming-Yu Liu, Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf

2023

RVT: Robotic View Transformer for 3D Object Manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox
Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
Human-In-The-Loop Task and Motion Planning for Imitation Learning
Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox
SCONE: A Food Scooping Robot Learning Framework with Active Perception
Yen-Ling Tai, Yu Chien Chiu, Yu-Wei Chao, Yi-Ting Chen
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
Andrew Guo, Bowen Wen, Jianhe Yuan, Jonathan Tremblay, Stephen Tyree, Jeff Smith, Stan Birchfield
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning
Yu-Shun Hsiao, Siva Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Steve Keckler, Vijay Janapa Reddi
Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models
Wenhao Ding, Gerry Che, Ding Zhao, Marco Pavone
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation
Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia Kavraki, Dieter Fox
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton
AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox
Affordance Diffusion: Synthesizing Hand-Object Interactions
Yufei Ye, Xueting Li, Abhinav Gupta, Shalini De Mello, Stan Birchfield, Jiaming Song, Shubham Tulsiani, Sifei Liu
Learning Human-to-Robot Handovers from Point Clouds
Sammy Christen, Wei Yang, Claudia Pérez D’Arpino , Otmar Hilliges, Dieter Fox, Yu-Wei Chao
Highlight
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield
Deep Learning Approaches to Grasp Synthesis: A Review
Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, Dieter Fox, Akansel Cosgun
23 DoF Grasping Policies from a Raw Point Cloud
Martin Matak, Karl Van Wyk, Tucker Hermans
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
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
CuRobo: Parallelized Collision-Free Robot Motion Generation
Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox
Global and Reactive Motion Generation with Geometric Fabric Command Sequences
Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan Ratliff, Fabio Ramos
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A. Vela, Stan Birchfield
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles Loop, Alexander Schwing, Stan Birchfield