Publications

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

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2022

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

2021

Interpreting and predicting tactile signals for the SynTouch BioTac
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
Selected for Oral Presentation
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
Joint Space Control via Deep Reinforcement Learning
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
Multi-View Fusion for Multi-Level Robotic Scene Understanding
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Clemens Eppner, Arsalan Mousavian, Dieter Fox
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
Fast Uncertainty Quantification for Deep Object Pose Estimation
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Anima Anandkumar, Yuke Zhu
NViSII: A Scriptable Tool for Photorealistic Image Generation
Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox
Reactive Human-to-Robot Handovers of Arbitrary Objects
Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Best Paper in Human-Robot Interaction, ICRA 2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, Dieter Fox
Object Rearrangement Using Learned Implicit Collision Functions
Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox
Transferable Task Execution from Pixels through Deep Planning Domain Learning
Kei Kase, Chris Paxton, Hammad Mazhar, Tetsuya Ogata, Dieter Fox

2020

Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
Visak Kumar, Tucker Hermans, Dieter Fox, Stan Birchfield, Jonathan Tremblay
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff
Collaborative Interaction Models for Optimized Human-Robot Teamwork
Adam Fishman, Chris Paxton, Wei Yang, Nathan Ratliff, Byron Boots, Dieter Fox
Human Grasp Classification for Reactive Human-to-Robot Handovers
Wei Yang, Chris Paxton, Maya Cakmak, Dieter Fox
“Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
Andrew Hundt, Benjamin Killeen, Nicholas Greene, Hongtao Wu, Heeyeon Kwon, Chris Paxton, Gregory D Hager
Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints
Adrian Spurr, Umar Iqbal, Pavlo Molchanov, Otmar Hilliges, Jan Kautz
OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation
Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield
Automated Synthetic-to-Real Generalization
Wuyang Chen, Zhiding Yu, Zhangyang Wang, Anima Anandkumar
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
Ke Chen, Ryan Oldja, Nikolai Smolyanskiy, Stan Birchfield, Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl
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
Motion reasoning for goal-based imitation learning
De-An Huang, Yu-Wei Chao, Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, Dieter Fox