research
∙
06/22/2023
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection
Understanding and manipulating articulated objects, such as doors and dr...
share
research
∙
06/21/2023
One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments
Robot-assisted dressing could benefit the lives of many people such as o...
research
∙
05/06/2023
Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation
Manipulating objects without grasping them is an essential component of ...
research
∙
03/29/2023
Bagging by Learning to Singulate Layers Using Interactive Perception
Many fabric handling and 2D deformable material tasks in homes and indus...
research
∙
02/25/2023
Point Cloud Forecasting as a Proxy for 4D Occupancy Forecasting
Predicting how the world can evolve in the future is crucial for motion ...
research
∙
02/24/2023
Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits
To navigate in an environment safely and autonomously, robots must accur...
research
∙
02/19/2023
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking
State estimation is one of the greatest challenges for cloth manipulatio...
research
∙
11/21/2022
Deep Projective Rotation Estimation through Relative Supervision
Orientation estimation is the core to a variety of vision and robotics t...
research
∙
11/17/2022
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation
How do we imbue robots with the ability to efficiently manipulate unseen...
research
∙
11/16/2022
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds
Point clouds are a widely available and canonical data modality which co...
research
∙
11/04/2022
Neural Grasp Distance Fields for Robot Manipulation
We formulate grasp learning as a neural field and present Neural Grasp D...
research
∙
11/02/2022
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity
A simple gripper can solve more complex manipulation tasks if it can uti...
research
∙
10/31/2022
AutoBag: Learning to Open Plastic Bags and Insert Objects
Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...
research
∙
10/27/2022
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
Effective planning of long-horizon deformable object manipulation requir...
research
∙
10/04/2022
Dfferentiable Raycasting for Self-supervised Occupancy Forecasting
Motion planning for safe autonomous driving requires learning how the en...
research
∙
09/19/2022
EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics
We study the problem of learning graph dynamics of deformable objects wh...
research
∙
09/12/2022
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
Physical interaction with textiles, such as assistive dressing, relies o...
research
∙
08/11/2022
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions
Robotic manipulation of highly deformable cloth presents a promising opp...
research
∙
07/22/2022
Learning to Singulate Layers of Cloth using Tactile Feedback
Robotic manipulation of cloth has applications ranging from fabrics manu...
research
∙
07/11/2022
Learning Closed-loop Dough Manipulation Using a Differentiable Reset Module
Deformable object manipulation has many applications such as cooking and...
research
∙
06/06/2022
Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation
Self-occlusion is challenging for cloth manipulation, as it makes it dif...
research
∙
05/09/2022
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects
We explore a novel method to perceive and manipulate 3D articulated obje...
research
∙
03/31/2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
We consider the problem of sequential robotic manipulation of deformable...
research
∙
03/03/2022
Self-supervised Transparent Liquid Segmentation for Robotic Pouring
Liquid state estimation is important for robotics tasks such as pouring;...
research
∙
02/01/2022
Semi-supervised 3D Object Detection via Temporal Graph Neural Networks
3D object detection plays an important role in autonomous driving and ot...
research
∙
01/18/2022
OSSID: Online Self-Supervised Instance Detection by (and for) Pose Estimation
Real-time object pose estimation is necessary for many robot manipulatio...
research
∙
11/21/2021
Self-Supervised Point Cloud Completion via Inpainting
When navigating in urban environments, many of the objects that need to ...
research
∙
11/10/2021
FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy
We address the problem of goal-directed cloth manipulation, a challengin...
research
∙
07/08/2021
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees
To safely navigate unknown environments, robots must accurately perceive...
research
∙
05/21/2021
Learning Visible Connectivity Dynamics for Cloth Smoothing
Robotic manipulation of cloth remains challenging for robotics due to th...
research
∙
04/28/2021
ZePHyR: Zero-shot Pose Hypothesis Rating
Pose estimation is a basic module in many robot manipulation pipelines. ...
research
∙
03/16/2021
Lyapunov Barrier Policy Optimization
Deploying Reinforcement Learning (RL) agents in the real-world require t...
research
∙
12/17/2020
PanoNet3D: Combining Semantic and Geometric Understanding for LiDARPoint Cloud Detection
Visual data in autonomous driving perception, such as camera image and L...
research
∙
11/14/2020
SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
Manipulating deformable objects has long been a challenge in robotics du...
research
∙
11/14/2020
PLAS: Latent Action Space for Offline Reinforcement Learning
The goal of offline reinforcement learning is to learn a policy from a f...
research
∙
11/13/2020
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Current image-based reinforcement learning (RL) algorithms typically ope...
research
∙
10/09/2020
Robust Instance Tracking via Uncertainty Flow
Current state-of-the-art trackers often fail due to distractorsand large...
research
∙
08/23/2020
Learning Off-Policy with Online Planning
We propose Learning Off-Policy with Online Planning (LOOP), combining th...
research
∙
08/18/2020
Uncertainty-aware Self-supervised 3D Data Association
3D object trackers usually require training on large amounts of annotate...
research
∙
08/18/2020
AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics
3D multi-object tracking (MOT) is essential to applications such as auto...
research
∙
08/13/2020
Cloth Region Segmentation for Robust Grasp Selection
Cloth detection and manipulation is a common task in domestic and indust...
research
∙
08/05/2020
Active Perception using Light Curtains for Autonomous Driving
Most real-world 3D sensors such as LiDARs perform fixed scans of the ent...
research
∙
07/02/2020
Learning Orientation Distributions for Object Pose Estimation
For robots to operate robustly in the real world, they should be aware o...
research
∙
05/29/2020
Multi-modal Transfer Learning for Grasping Transparent and Specular Objects
State-of-the-art object grasping methods rely on depth sensing to plan r...
research
∙
12/27/2019
Combining Deep Learning and Verification for Precise Object Instance Detection
Deep learning object detectors often return false positives with very hi...
research
∙
12/10/2019
What You See is What You Get: Exploiting Visibility for 3D Object Detection
Recent advances in 3D sensing have created unique challenges for compute...
research
∙
12/10/2019
Learning to Optimally Segment Point Clouds
We focus on the problem of class-agnostic instance segmentation of LiDAR...
research
∙
12/01/2019
Just Go with the Flow: Self-Supervised Scene Flow Estimation
When interacting with highly dynamic environments, scene flow allows aut...
research
∙
11/29/2019
FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans
Acquiring accurate three-dimensional depth information conventionally re...
research
∙
06/11/2019