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05/26/2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Robotic assembly is a longstanding challenge, requiring contact-rich int...
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05/25/2023
Imitating Task and Motion Planning with Visuomotor Transformers
Imitation learning is a powerful tool for training robot manipulation po...
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05/20/2023
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
In this work, we propose algorithms and methods that enable learning dex...
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10/25/2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Recent work has demonstrated the ability of deep reinforcement learning ...
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05/07/2022
Factory: Fast Contact for Robotic Assembly
Robotic assembly is one of the oldest and most challenging applications ...
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12/09/2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Sharing autonomy between robots and human operators could facilitate dat...
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08/24/2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Isaac Gym offers a high performance learning platform to train policies ...
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08/22/2021
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
We present a system for learning a challenging dexterous manipulation ta...
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04/09/2021
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
We introduce DexYCB, a new dataset for capturing hand grasping of object...
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12/07/2020
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
This report presents the debates, posters, and discussions of the Sim2Re...
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11/17/2020
A User's Guide to Calibrating Robotics Simulators
Simulators are a critical component of modern robotics research. Strateg...
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06/04/2020
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
This work addresses the problem of robot interaction in complex environm...
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02/27/2020
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Tracking the pose of an object while it is being held and manipulated by...
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12/31/2019
Information Theoretic Model Predictive Q-Learning
Model-free Reinforcement Learning (RL) algorithms work well in sequentia...
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10/07/2019
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Teleoperation offers the possibility of imparting robotic systems with s...
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04/07/2019
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
Grasping and manipulating objects is an important human skill. Since mos...
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11/08/2018
Learning Latent Space Dynamics for Tactile Servoing
In order to achieve a dexterous robotic manipulation, we need to equip o...
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10/15/2018
Robust Learning of Tactile Force Estimation through Robot Interaction
Current methods for estimating force from tactile sensor signals are eit...
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10/12/2018
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning
Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibit...
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10/12/2018
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
We consider the problem of transferring policies to the real world by tr...
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05/17/2017
Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery
Robotic surgery has become a powerful tool for performing minimally inva...
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12/15/2016
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth
We introduce SceneNet RGB-D, expanding the previous work of SceneNet to ...
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09/16/2016
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks
Ever more robust, accurate and detailed mapping using visual sensing has...
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07/25/2016
gvnn: Neural Network Library for Geometric Computer Vision
We introduce gvnn, a neural network library in Torch aimed towards bridg...
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04/04/2016
HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor
We describe a new method for comparing frame appearance in a frame-to-mo...
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05/27/2015
SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling
We propose a novel deep architecture, SegNet, for semantic pixel wise im...
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05/01/2015