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07/25/2023
Optical Flow boosts Unsupervised Localization and Segmentation
Unsupervised localization and segmentation are long-standing robot visio...
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04/09/2023
Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos
This work proposes a self-supervised learning system for segmenting rigi...
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01/30/2023
Mono-STAR: Mono-camera Scene-level Tracking and Reconstruction
We present Mono-STAR, the first real-time 3D reconstruction system that ...
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10/07/2022
Scene-level Tracking and Reconstruction without Object Priors
We present the first real-time system capable of tracking and reconstruc...
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09/13/2022
Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs
This paper presents a new technique for learning category-level manipula...
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07/14/2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
We propose a novel Parallel Monte Carlo tree search with Batched Simulat...
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07/03/2022
USHER: Unbiased Sampling for Hindsight Experience Replay
Dealing with sparse rewards is a long-standing challenge in reinforcemen...
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03/08/2022
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations
This work aims to learn how to perform complex robot manipulation tasks ...
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02/03/2022
Self-Supervised Monte Carlo Tree Search Learning for Object Retrieval in Clutter
In this study, working with the task of object retrieval in clutter, we ...
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06/26/2021
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
Highly constrained manipulation tasks continue to be challenging for aut...
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05/06/2021
Visual Foresight Tree for Object Retrieval from Clutter with Nonprehensile Rearrangement
This paper considers the problem of retrieving an object from a set of t...
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11/10/2020
A Self-supervised Learning System for Object Detection in Videos Using Random Walks on Graphs
This paper presents a new self-supervised system for learning to detect ...
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11/09/2020
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
We propose a Deep Interaction Prediction Network (DIPN) for learning to ...
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09/24/2020
Model Identification and Control of a Low-Cost Wheeled Mobile Robot Using Differentiable Physics
We present the design of a low-cost wheeled mobile robot, and an analyti...
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08/05/2020
A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning
This paper introduces a new technique for learning probabilistic models ...
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08/04/2020
Learning Transition Models with Time-delayed Causal Relations
This paper introduces an algorithm for discovering implicit and delayed ...
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06/28/2020
Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects
Recent progress in robotic manipulation has dealt with the case of previ...
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05/21/2020
Learning to Transfer Dynamic Models of Underactuated Soft Robotic Hands
Transfer learning is a popular approach to bypassing data limitations in...
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05/11/2020
Learning to Slide Unknown Objects with Differentiable Physics Simulations
We propose a new technique for pushing an unknown object from an initial...
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05/11/2020
Identifying Mechanical Models through Differentiable Simulations
This paper proposes a new method for manipulating unknown objects throug...
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10/11/2019
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects
This paper introduces key machine learning operations that allow the rea...
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05/17/2019
Object Rearrangement with Nested Nonprehensile Manipulation Actions
This paper considers the problem of rearrangement planning, i.e finding ...
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03/13/2019
Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning
We present a probabilistic approach for building, on the fly, 3-D models...
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03/03/2019
Towards Robust Product Packing with a Minimalistic End-Effector
Advances in sensor technologies, object detection algorithms, planning f...
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06/25/2018
Physics-based Scene-level Reasoning for Object Pose Estimation in Clutter
This paper focuses on vision-based pose estimation for multiple rigid ob...
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06/18/2018
Learning Object Localization and 6D Pose Estimation from Simulation and Weakly Labeled Real Images
This work proposes a process for efficiently training a point-wise objec...
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06/17/2018
Task-Relevant Object Discovery and Categorization for Playing First-person Shooter Games
We consider the problem of learning to play first-person shooter (FPS) v...
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05/16/2018
Robust 6D Object Pose Estimation with Stochastic Congruent Sets
Object pose estimation is frequently achieved by first segmenting an RGB...
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04/12/2018
Efficient Model Identification for Tensegrity Locomotion
This paper aims to identify in a practical manner unknown physical param...
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10/24/2017
Model Identification via Physics Engines for Improved Policy Search
This paper presents a practical approach for identifying unknown mechani...
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10/24/2017
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search
This work proposes a process for efficiently searching over combinations...
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03/09/2017
A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation
Progress has been achieved recently in object detection given advancemen...
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10/16/2012