Research Areas

Patricio A. Vela

under review

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Lirui Wang

Yu Xiang

Wei Yang

Conference on Robot Learning 2021

Joint Space Control via Deep Reinforcement Learning

Visak Kumar

David Hoeller

Balakumar Sundaralingam

IROS 2021

Multi-view Fusion for Multi-level Robotic Scene Understanding

Yunzhi Lin

Patricio A. Vela

Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs

IROS 2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

Yu Xiang

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021

Yifeng Zhu

Yuke Zhu

ICRA 2021

Fast Uncertainty Quantification for Deep Object Pose Estimation

Guanya Shi

Yifeng Zhu

ICRA 2021

NViSII: A Scriptable Tool for Photorealistic Image Generation

Nathan Morrical

Yunzhi Lin

Valerio Pascucci

Ingo Wald

SDG Workshop at ICLR 2021

RGB-D Local Implicit Function for Depth Completion of Transparent Objects

Luyang Zhu

Yu Xiang

Hammad Mazhar

Jozef van Eenbergen

Shoubhik Debnath

CVPR 2021

Reactive Human-to-Robot Handovers of Arbitrary Objects

Maya Cakmak

ICRA 2021

Object Rearrangement Using Learned Implicit Collision Functions

Michael Danielczuk

Clemens Eppner

ICRA 2021

Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes

Martin Sundermeyer

Rudolph Triebel

ICRA 2021

Transferable Task Execution from Pixels through Deep Planning Domain Learning

Kei Kase

Hammad Mazhar

Tetsuya Ogata

ICRA 2020

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Ching-An Cheng

Mustafa Mukadam

Jan Issac

Byron Boots

Nathan Ratliff

IEEE Transactions on Automation Science and Engineering (T-ASE)

2020

Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies

Visak Kumar

NeurIPS Workshop on Robot Learning

Collaborative Interaction Models for Optimized Human-Robot Teamwork

Adam Fishman

Nathan Ratliff

International Conference on Intelligent Robots and Systems (IROS) 2020

Human Grasp Classification for Reactive Human-to-Robot Handovers

Wei Yang

Maya Cakmak

“Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer

International Conference on Intelligent Robots and Systems (IROS), 2020

Andrew Hundt

Benjamin Killeen

Nicholas Greene

Hongtao Wu

Heeyeon Kwon

Gregory D Hager

IEEE Robotics and Automation Letters

Weakly-Supervised 3D Hand Pose Estimation via Biomechanical Constraints

Adrian Spurr

Umar Iqbal

Pavlo Molchanov

Otmar Hilliges

European Conference on Computer Vision, 2020

OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation

Hongyu Ren

Yuke Zhu

Jure Leskovec

Anima Anandkumar

Animesh Garg

Conference on Uncertainty in Artificial Intelligence (UAI) 2020

Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera

Terry Mosier

MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views

IROS 2020

Automated Synthetic-to-Real Generalization

Wuyang Chen

Zhiding Yu

Zhangyang Wang

Anima Anandkumar

International Conference on Machine Learning (ICML) 2020

Ke Chen

Ryan

Nikolai

Alexander Popov

David Wehr

Ibrahim Eden

Joachim Pehserl

IROS 2020

6-DOF Grasping for Target-driven Object Manipulation in Clutter

Adithyavairavan Murali

ICRA 2020

Online replanning in belief space for partially observable task and motion problems

Caelan Reed Garrett

Tomas Lozano-Perez

Leslie Kaebling

ICRA 2020

Motion reasoning for goal-based imitation learning

De-An Huang

Yu-Wei Chao

Xinke Deng

Li Fei-Fei

Juan Carlos Niebles

Animesh Garg

ICRA 2020

Camera-to-Robot Pose Estimation from a Single Image

Timothy E. Lee

Thang To

Jia Cheng

Terry Mosier

Oliver Kroemer

ICRA 2020

Toward Sim-to-Real Directional Semantic Grasping

Shariq Iqbal

Thang To

Jia Cheng

Erik Leitch

Andy Campbell

Kirby Leung

Duncan McKay

ICRA 2020

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

Mengyuan Yan

Qingyun Sun

Iuri Frosio

arxiv

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Jacky Liang

Qian Wan

Nathan Ratliff

ICRA 2020

2019

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation

Clemens Eppner

ICCV 2019

Representing robot task plans as robust logical-dynamical systems

Clemens Eppner

Nathan Ratliff

IROS 2019

Putting Humans in a Scene: Learning Affordance in 3D Indoor Environments

Xueting Li

Sifei Liu

Kihwan Kim

Xiaolong Wang

Ming-Hsuan Yang

CVPR 2019

Robust Learning of Tactile Force Estimation through Robot Interaction

Balakumar Sundaralingam

Alexander Lambert

Nathan Ratliff

ICRA 2019

2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation

Ching-An Cheng

Mustafa Mukadam

Jan Issac

Byron Boots

Nathan Ratliff

International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2018

Fluidic Elastomer Actuators for Haptic Interactions in Virtual Reality

Jose Barreiros

Houston Claure

Bryan Peele

Omer Shapira

Josef Spjut

David Luebke

Malte Jung

Robert Shepherd

IEEE Robotics and Automation Letters

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Thang To

Bala Sundaralingam

Yu Xiang

Conference on Robot Learning (CoRL) 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

European Conference on Computer Vision (ECCV 2018)

Domain Adaptation for Semantic Segmentation via Class-Balanced Self-Training

Yang Zou

Zhiding Yu

B. V. K. Vijaya Kumar

Jinsong Wang

European Conference on Computer Vision (ECCV) 2018

Simultaneous Edge Alignment and Learning

Zhiding Yu

Weiyang Liu

Yang Zou

Chen Feng

Srikumar Ramalingam

B. V. K. Vijaya Kumar

European Conference on Computer Vision (ECCV) 2018

HGMR: Hierarchical Gaussian Mixtures for Adaptive 3D Registration

Ben Eckart

Kihwan Kim

European Conference on Computer Vision (ECCV 2018)

EOE: Expected Overlap Estimation over Unstructured Point Cloud Data

Ben Eckart

Kihwan Kim

International Conference on 3D Vision (3DV) 2018

Region Growing Curriculum Generation for Reinforcement Learning

Artem Molchanov

Karol Hausman

Gaurav Sukhatme

arXiv

Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation

Thang To

CVPR 2018 Workshop on Real World Challenges and New Benchmarks for Deep Learning in Robotic Vision

Geometry-Aware Learning of Maps for Camera Localization

Samarth Brahmbhatt

Jinwei Gu

Kihwan Kim

James Hays

CVPR 2018 (Spotlight)

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Yu Xiang

Tanner Schmidt

Venkatraman Narayanan

Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations

Robotics: Science and Systems (RSS)

Thang To

Artem Molchanov

On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach

IEEE International Conference on Robotics and Automation (ICRA) 2018

A Variable Shape and Variable Stiffness Controller for Haptic Virtual Interactions

Benjamin C. Mac Murray

Bryan N. Peele

Patricia Xu

Josef Spjut

Omer Shapira

David Luebke

Robert F. Shepherd

RoboSoft

Nikolai Smolyanskiy

Alexey Kamenev

CVPR 2018 Workshop on Autonomous Driving

Riemannian Motion Policies

Nathan Ratliff

Jan Issac

Daniel Kappler

Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control

arXiv

2017

Mengyuan Yan

Iuri Frosio

Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness

NIPS 2017 Workshop on Acting and Interacting in the Real World: Challenges in Robot Learning

Nikolai Smolyanskiy

Alexey Kamenev

Jeffrey Smith

IROS 2017

2016

Accelerated Generative Models for 3D Point Cloud Data

Ben Eckart

Kihwan Kim

Alejandro Troccoli

Alonzo Kelly