Publications

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

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2020

6-DOF Grasping for Target-driven Object Manipulation in Clutter
Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox
Best Paper Finalist in Robot Manipulation, ICRA 2020
Best Student Paper Finalist, ICRA 2020
Self-supervised 6D Object Pose Estimation for Robot Manipulation
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox
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
How to close sim-real gap? transfer with segmentation!
Mengyuan Yan, Qingyun Sun, Iuri Frosio, Stephen Tyree, Jan Kautz
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

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
Arsalan Mousavian, Clemens Eppner, Dieter Fox
Putting Humans in a Scene: Learning Affordance in 3D Indoor Environments
Xueting Li, Sifei Liu, Kihwan Kim, Xiaolong Wang, Ming-Hsuan Yang, Jan Kautz

2018

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
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
On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach
Nikolai Smolyanskiy, Alexey Kamenev, Stan Birchfield

2017

Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control
Mengyuan Yan, Iuri Frosio, Stephen Tyree, Jan Kautz
Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness
Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, Stan Birchfield

2016

Accelerated Generative Models for 3D Point Cloud Data
Ben Eckart, Kihwan Kim, Alejandro Troccoli, Alonzo Kelly, Jan Kautz