Publications | Research

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Artificial Intelligence and Machine Learning
Robotics

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2022

DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects

Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

Cooperative Task and Motion Planning for Multi-Arm Assembly Systems

Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian Williams

2021

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

Clemens Eppner, Arsalan Mousavian, Dieter Fox

2020

Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints

Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Otmar Hilliges, Jan Kautz

Self-supervised 6D Object Pose Estimation for Robot Manipulation

Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox

How to close sim-real gap? transfer with segmentation!

Mengyuan Yan, Qingyun Sun, Iuri Frosio, Stephen Tyree, Jan Kautz

2019

A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set

Clemens Eppner, Arsalan Mousavian, Dieter Fox

2018

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

Geometry-Aware Learning of Maps for Camera Localization

Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz