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Learning Composable Behavior Embeddings for Long-horizon Visual Navigation
Learning high-level navigation behaviors has important implications: it ...
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Interpreting and Predicting Tactile Signals for the SynTouch BioTac
In the human hand, high-density contact information provided by afferent...
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Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
In many applications, including logistics and manufacturing, robot manip...
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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
Robotic tasks often require generation of motions that satisfy multiple ...
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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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Object Rearrangement Using Learned Implicit Collision Functions
Robotic object rearrangement combines the skills of picking and placing ...
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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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A User's Guide to Calibrating Robotics Simulators
Simulators are a critical component of modern robotics research. Strateg...
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Reactive Human-to-Robot Handovers of Arbitrary Objects
Human-robot object handovers have been an actively studied area of robot...
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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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Stein Variational Model Predictive Control
Decision making under uncertainty is critical to real-world, autonomous ...
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Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
We focus on decentralized navigation among multiple non-communicating ra...
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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics
Sound is an information-rich medium that captures dynamic physical event...
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Geometric Fabrics for the Acceleration-based Design of Robotic Motion
This paper describes the pragmatic design and construction of geometric ...
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Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
6D robotic grasping beyond top-down bin-picking scenarios is a challengi...
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DeepGMR: Learning Latent Gaussian Mixture Models for Registration
Point cloud registration is a fundamental problem in 3D computer vision,...
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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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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Generating robot motion for multiple tasks in dynamic environments is ch...
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Unseen Object Instance Segmentation for Robotic Environments
In order to function in unstructured environments, robots need the abili...
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Causal Discovery in Physical Systems from Videos
Causal discovery is at the core of human cognition. It enables us to rea...
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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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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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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
Robotic tasks often require motions with complex geometric structures. W...
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Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning
Traditional robotic approaches rely on an accurate model of the environm...
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Inferring the Material Properties of Granular Media for Robotic Tasks
Granular media (e.g., cereal grains, plastic resin pellets, and pills) a...
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Watching the World Go By: Representation Learning from Unlabeled Videos
Recent single image unsupervised representation learning techniques show...
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Human Grasp Classification for Reactive Human-to-Robot Handovers
Transfer of objects between humans and robots is a critical capability f...
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Transferable Task Execution from Pixels through Deep Planning Domain Learning
While robots can learn models to solve many manipulation tasks from raw ...
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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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Information Theoretic Model Predictive Q-Learning
Model-free Reinforcement Learning (RL) algorithms work well in sequentia...
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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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6-DOF Grasping for Target-driven Object Manipulation in Clutter
Grasping in cluttered environments is a fundamental but challenging robo...
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ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks
We present ALFRED (Action Learning From Realistic Environments and Direc...
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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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Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
In robot manipulation, planning the motion of a robot manipulator to gra...
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Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
Using simulation to train robot manipulation policies holds the promise ...
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Camera-to-Robot Pose Estimation from a Single Image
We present an approach for estimating the pose of a camera with respect ...
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Motion Reasoning for Goal-Based Imitation Learning
We address goal-based imitation learning, where the aim is to output the...
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IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data
Learning from offline task demonstrations is a problem of great interest...
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Online Replanning in Belief Space for Partially Observable Task and Motion Problems
To solve multi-step manipulation tasks in the real world, an autonomous ...
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Motion-Nets: 6D Tracking of Unknown Objects in Unseen Environments using RGB
In this work, we bridge the gap between recent pose estimation and track...
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Conditional Driving from Natural Language Instructions
Widespread adoption of self-driving cars will depend not only on their s...
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Trajectory Optimization for Coordinated Human-Robot Collaboration
Effective human-robot collaboration requires informed anticipation. The ...
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DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Teleoperation offers the possibility of imparting robotic systems with s...
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Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
RMPflow is a recently proposed policy-fusion framework based on differen...
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Scaling Local Control to Large-Scale Topological Navigation
Visual topological navigation has been revitalized recently thanks to th...
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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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Representing Robot Task Plans as Robust Logical-Dynamical Systems
It is difficult to create robust, reusable, and reactive behaviors for r...
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Part Segmentation for Highly Accurate Deformable Tracking in Occlusions via Fully Convolutional Neural Networks
Successfully tracking the human body is an important perceptual challeng...
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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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