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04/18/2023
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
We address the important problem of generalizing robotic rearrangement t...
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02/21/2023
Constrained Generative Sampling of 6-DoF Grasps
Most state-of-the-art data-driven grasp sampling methods propose stable ...
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12/13/2022
MegaPose: 6D Pose Estimation of Novel Objects via Render Compare
We introduce MegaPose, a method to estimate the 6D pose of novel objects...
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10/24/2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Dexterous robotic hands have the capability to interact with a wide vari...
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09/28/2022
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations
Teaching a multi-fingered dexterous robot to grasp objects in the real w...
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09/22/2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the wor...
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07/06/2022
Deep Learning Approaches to Grasp Synthesis: A Review
Grasping is the process of picking an object by applying forces and torq...
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02/01/2022
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
Accurate object rearrangement from vision is a crucial problem for a wid...
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06/29/2021
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
Segmenting unseen object instances in cluttered environments is an impor...
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06/02/2021
NeRP: Neural Rearrangement Planning for Unknown Objects
Robots will be expected to manipulate a wide variety of objects in compl...
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04/28/2021
Fast Joint Space Model-Predictive Control for Reactive Manipulation
Sampling-based model predictive control (MPC) is a promising tool for fe...
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04/01/2021
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
Majority of the perception methods in robotics require depth information...
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03/31/2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Tactile sensing is critical for robotic grasping and manipulation of obj...
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03/25/2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Grasping unseen objects in unconstrained, cluttered environments is an e...
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01/14/2021
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
In the human hand, high-density contact information provided by afferent...
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11/21/2020
Object Rearrangement Using Learned Implicit Collision Functions
Robotic object rearrangement combines the skills of picking and placing ...
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11/18/2020
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
We introduce ACRONYM, a dataset for robot grasp planning based on physic...
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11/17/2020
Reactive Human-to-Robot Handovers of Arbitrary Objects
Human-robot object handovers have been an actively studied area of robot...
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11/17/2020
Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery
Zero-shot execution of unseen robotic tasks is an important problem in r...
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07/30/2020
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
Segmenting unseen objects in cluttered scenes is an important skill that...
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07/16/2020
Unseen Object Instance Segmentation for Robotic Environments
In order to function in unstructured environments, robots need the abili...
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06/06/2020
Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework
High-density afferents in the human hand have long been regarded as esse...
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12/11/2019
A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set
Robot grasping is often formulated as a learning problem. With the incre...
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12/08/2019
6-DOF Grasping for Target-driven Object Manipulation in Clutter
Grasping in cluttered environments is a fundamental but challenging robo...
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12/01/2019
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation
Current 6D object pose estimation methods usually require a 3D model for...
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09/23/2019
Self-supervised 6D Object Pose Estimation for Robot Manipulation
To teach robots skills, it is crucial to obtain data with supervision. S...
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07/30/2019
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation
In order to function in unstructured environments, robots need the abili...
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05/25/2019
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
Generating grasp poses is a crucial component for any robot object manip...
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05/22/2019
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
Tracking 6D poses of objects from videos provides rich information to a ...
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05/15/2018
Visual Representations for Semantic Target Driven Navigation
What is a good visual representation for autonomous agents? We address t...
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02/25/2017
Synthesizing Training Data for Object Detection in Indoor Scenes
Detection of objects in cluttered indoor environments is one of the key ...
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12/01/2016
3D Bounding Box Estimation Using Deep Learning and Geometry
We present a method for 3D object detection and pose estimation from a s...
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09/26/2016
Multiview RGB-D Dataset for Object Instance Detection
This paper presents a new multi-view RGB-D dataset of nine kitchen scene...
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09/01/2016
Semantic Image Based Geolocation Given a Map
The problem visual place recognition is commonly used strategy for local...
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04/25/2016