Publications

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

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2024

SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
Sammy Christen, Lan Feng, Wei Yang, Yu-Wei Chao, Otmar Hilliges, Jie Song

2023

Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
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
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

2022

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
Propagating State Uncertainty Through Trajectory Forecasting
Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone
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
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

2020

Camera-to-Robot Pose Estimation from a Single Image
Timothy E. Lee, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, Stan Birchfield
Toward Sim-to-Real Directional Semantic Grasping
Shariq Iqbal, Jonathan Tremblay, Thang To, Jia Cheng, Erik Leitch, Andy Campbell, Kirby Leung, Duncan McKay, Stan Birchfield
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

2019

Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data
Aayush Prakash, Shaad Boochoon, Mark Brophy, David Acuna, Eric Cameracci, Gavriel State, Omer Shapira, Stan Birchfield

2018

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