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Robotics

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Robotics

2023

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox

Affordance Diffusion: Synthesizing Hand-Object Interactions

Yufei Ye, Xueting Li, Abhinav Gupta, Shalini De Mello, Stan Birchfield, Jiaming Song, Shubham Tulsiani, Sifei Liu

CVPR

Learning Human-to-Robot Handovers from Point Clouds

Sammy Christen, Wei Yang, Claudia Pérez D’Arpino , Otmar Hilliges, Dieter Fox, Yu-Wei Chao

CVPR

Highlight

BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield

CVPR

Deep Learning Approaches to Grasp Synthesis: A Review

Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, Dieter Fox, Akansel Cosgun

23 DoF Grasping Policies from a Raw Point Cloud

Martin Matak, Karl Van Wyk, Tucker Hermans

ICRA

Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers

Yixuan Huang, Adam Conkey, Tucker Hermans

ICRA

DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments

Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang

ICRA

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

ICRA

CuRobo: Parallelized Collision-Free Robot Motion Generation

Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox

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

ICRA

DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets

Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox

ICRA

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang

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

ICRA

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

ICRA

2022

Planning Visual-Tactile Precision Grasps via Complementary Use of Vision and Touch

Martin Matak, Tucker Hermans

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox

CORL

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

Yann Labbe, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, et al.

CORL

Motion Policy Networks

Adam Fishman, Adithya Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

Stephen Tyree, Jonathan Tremblay, Stan Birchfield, et al.

IROS

Learning Perceptual Concepts by Bootstrapping from Human Queries

Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox

Retrospectives on the Embodied AI Workshop

Matt Deitke, Dhruv Batra, Yonatan Bisk, Tommaso Campari, Angel X. Chang, Devendra Singh Chaplot, Changan Chen, Claudia Pérez D’Arpino , Kiana Ehsani, Ali Farhadi, Li Fei-Fei, Anthony Francis, Chuang Gan, Kristen Grauman, David Hall, Winson Han, Unnat Jain, Aniruddha Kembhavi, Jacob Krantz, Stefan Lee, Chengshu Li, Sagnik Majumder, Oleksandr Maksymets, Roberto Martín-Martín, Roozbeh Mottaghi, Sonia Raychaudhuri, Mike Roberts, Silvio Savarese, Manolis Savva, Mohit Shridhar, Niko Sünderhauf, Andrew Szot, Ben Talbot, Joshua B. Tenenbaum, Jesse Thomason, Alexander Toshev, Joanne Truong, Luca Weihs, Jiajun Wu

Correcting Robot Plans with Natural Language Feedback

Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox

Ifor: Iterative flow minimization for robotic object rearrangement

Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox

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

ICRA

Factory: Fast Contact for Robotic Assembly

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox

Accelerated Policy Learning with Parallel Differentiable Simulation

Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin