Publications

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

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2023

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
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
Learning Human-to-Robot Handovers from Point Clouds
Sammy Christen, Wei Yang, Claudia Pérez D’Arpino , Otmar Hilliges, Dieter Fox, Yu-Wei Chao
Highlight
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
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
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox