b'David Held'

research

∙ 06/22/2023

FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection

Understanding and manipulating articulated objects, such as doors and dr...

0 Harry Zhang, et al. ∙

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...

0 Yufei Wang, et al. ∙

research

∙ 05/06/2023

Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

Manipulating objects without grasping them is an essential component of ...

0 Wenxuan Zhou, et al. ∙

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...

0 Lawrence Yunliang Chen, et al. ∙

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 ...

0 Tarasha Khurana, et al. ∙

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...

0 Siddharth Ancha, et al. ∙

research

∙ 02/19/2023

Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking

State estimation is one of the greatest challenges for cloth manipulatio...

0 Zixuan Huang, et al. ∙

research

∙ 11/21/2022

Deep Projective Rotation Estimation through Relative Supervision

Orientation estimation is the core to a variety of vision and robotics t...

0 Brian Okorn, et al. ∙

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...

0 Chuer Pan, et al. ∙

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...

0 Daniel Seita, et al. ∙

research

∙ 11/04/2022

Neural Grasp Distance Fields for Robot Manipulation

We formulate grasp learning as a neural field and present Neural Grasp D...

0 Thomas Weng, et al. ∙

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...

0 Wenxuan Zhou, et al. ∙

research

∙ 10/31/2022

AutoBag: Learning to Open Plastic Bags and Insert Objects

Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...

0 Lawrence Yunliang Chen, et al. ∙

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...

0 Xingyu Lin, et al. ∙

research

∙ 10/04/2022

Dfferentiable Raycasting for Self-supervised Occupancy Forecasting

Motion planning for safe autonomous driving requires learning how the en...

0 Tarasha Khurana, et al. ∙

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...

0 Alberta Longhini, et al. ∙

research

∙ 09/12/2022

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles

Physical interaction with textiles, such as assistive dressing, relies o...

0 Alberta Longhini, et al. ∙

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...

0 Yufei Wang, et al. ∙

research

∙ 07/22/2022

Learning to Singulate Layers of Cloth using Tactile Feedback

Robotic manipulation of cloth has applications ranging from fabrics manu...

0 Sashank Tirumala, et al. ∙

research

∙ 07/11/2022

Learning Closed-loop Dough Manipulation Using a Differentiable Reset Module

Deformable object manipulation has many applications such as cooking and...

0 Carl Qi, et al. ∙

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...

4 Zixuan Huang, et al. ∙

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...

5 Ben Eisner, et al. ∙

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...

2 Xingyu Lin, et al. ∙

research

∙ 03/03/2022

Self-supervised Transparent Liquid Segmentation for Robotic Pouring

Liquid state estimation is important for robotics tasks such as pouring;...

0 Gautham Narayan Narasimhan, et al. ∙

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...

0 Jianren Wang, et al. ∙

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...

0 Qiao Gu, et al. ∙

research

∙ 11/21/2021

Self-Supervised Point Cloud Completion via Inpainting

When navigating in urban environments, many of the objects that need to ...

12 Himangi Mittal, et al. ∙

research

∙ 11/10/2021

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy

We address the problem of goal-directed cloth manipulation, a challengin...

4 Thomas Weng, et al. ∙

research

∙ 07/08/2021

Active Safety Envelopes using Light Curtains with Probabilistic Guarantees

To safely navigate unknown environments, robots must accurately perceive...

5 Siddharth Ancha, et al. ∙

research

∙ 05/21/2021

Learning Visible Connectivity Dynamics for Cloth Smoothing

Robotic manipulation of cloth remains challenging for robotics due to th...

4 Xingyu Lin, et al. ∙

research

∙ 04/28/2021

ZePHyR: Zero-shot Pose Hypothesis Rating

Pose estimation is a basic module in many robot manipulation pipelines. ...

0 Brian Okorn, et al. ∙

research

∙ 03/16/2021

Lyapunov Barrier Policy Optimization

Deploying Reinforcement Learning (RL) agents in the real-world require t...

0 Harshit Sikchi, et al. ∙

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...

0 Xia Chen, et al. ∙

research

∙ 11/14/2020

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation

Manipulating deformable objects has long been a challenge in robotics du...

0 Xingyu Lin, et al. ∙

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...

0 Wenxuan Zhou, et al. ∙

research

∙ 11/13/2020

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning

Current image-based reinforcement learning (RL) algorithms typically ope...

32 Yufei Wang, et al. ∙

research

∙ 10/09/2020

Robust Instance Tracking via Uncertainty Flow

Current state-of-the-art trackers often fail due to distractorsand large...

3 Jianing Qian, et al. ∙

research

∙ 08/23/2020

Learning Off-Policy with Online Planning

We propose Learning Off-Policy with Online Planning (LOOP), combining th...

0 Harshit Sikchi, et al. ∙

research

∙ 08/18/2020

Uncertainty-aware Self-supervised 3D Data Association

3D object trackers usually require training on large amounts of annotate...

2 Jianren Wang, et al. ∙

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...

4 Xinshuo Weng, et al. ∙

research

∙ 08/13/2020

Cloth Region Segmentation for Robust Grasp Selection

Cloth detection and manipulation is a common task in domestic and indust...

0 Jianing Qian, et al. ∙

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...

6 Siddharth Ancha, et al. ∙

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...

0 Brian Okorn, et al. ∙

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...

0 Thomas Weng, et al. ∙

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...

38 Siddharth Ancha, et al. ∙

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...

17 Peiyun Hu, et al. ∙

research

∙ 12/10/2019

Learning to Optimally Segment Point Clouds

We focus on the problem of class-agnostic instance segmentation of LiDAR...

0 Peiyun Hu, et al. ∙

research

∙ 12/01/2019

Just Go with the Flow: Self-Supervised Scene Flow Estimation

When interacting with highly dynamic environments, scene flow allows aut...

0 Himangi Mittal, et al. ∙

research

∙ 11/29/2019

FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans

Acquiring accurate three-dimensional depth information conventionally re...

17 Peng Yin, et al. ∙

research

∙ 06/11/2019

Few-Shot Point Cloud Region Annotation with Human in the Loop

We propose a point cloud annotation framework that employs human-in-loop...

0 Siddhant Jain, et al. ∙

David Held

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