b'Dieter Fox'

research

∙ 07/10/2023

Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement

We propose a system for rearranging objects in a scene to achieve a desi...

0 Anthony Simeonov, et al. ∙

research

∙ 07/08/2023

Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation

Recent work has shown that complex manipulation skills, such as pushing ...

0 Constantinos Chamzas, et al. ∙

research

∙ 06/26/2023

RVT: Robotic View Transformer for 3D Object Manipulation

For 3D object manipulation, methods that build an explicit 3D representa...

0 Ankit Goyal, et al. ∙

research

∙ 06/23/2023

AR2-D2:Training a Robot Without a Robot

Diligently gathered human demonstrations serve as the unsung heroes empo...

0 Jiafei Duan, et al. ∙

research

∙ 06/22/2023

DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability

Task and Motion Planning (TAMP) approaches are effective at planning lon...

0 Xiaolin Fang, et al. ∙

research

∙ 05/26/2023

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Robotic assembly is a longstanding challenge, requiring contact-rich int...

0 Bingjie Tang, et al. ∙

research

∙ 05/25/2023

Imitating Task and Motion Planning with Visuomotor Transformers

Imitation learning is a powerful tool for training robot manipulation po...

0 Murtaza Dalal, et al. ∙

research

∙ 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...

0 Adithyavairavan Murali, et al. ∙

research

∙ 03/30/2023

Learning Human-to-Robot Handovers from Point Clouds

We propose the first framework to learn control policies for vision-base...

0 Sammy Christen, et al. ∙

research

∙ 03/28/2023

DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets

Robotic grasping of 3D deformable objects is critical for real-world app...

0 Isabella Huang, et al. ∙

research

∙ 03/28/2023

TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation

Effective use of camera-based vision systems is essential for robust per...

0 Xiangyun Meng, et al. ∙

research

∙ 03/24/2023

BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

We present a near real-time method for 6-DoF tracking of an unknown obje...

3 Bowen Wen, et al. ∙

research

∙ 02/21/2023

Constrained Generative Sampling of 6-DoF Grasps

Most state-of-the-art data-driven grasp sampling methods propose stable ...

0 Jens Lundell, et al. ∙

research

∙ 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...

0 Yann Labbé, et al. ∙

research

∙ 11/03/2022

Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

Robots planning long-horizon behavior in complex environments must be ab...

0 Zhutian Yang, et al. ∙

research

∙ 10/25/2022

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality

Recent work has demonstrated the ability of deep reinforcement learning ...

0 Ankur Handa, et al. ∙

research

∙ 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...

0 Zoey Qiuyu Chen, et al. ∙

research

∙ 10/21/2022

Motion Policy Networks

Collision-free motion generation in unknown environments is a core build...

0 Adam Fishman, et al. ∙

research

∙ 10/21/2022

Neural Fields for Robotic Object Manipulation from a Single Image

We present a unified and compact representation for object rendering, 3D...

0 Valts Blukis, et al. ∙

research

∙ 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...

4 Zoey Qiuyu Chen, et al. ∙

research

∙ 09/22/2022

ProgPrompt: Generating Situated Robot Task Plans using Large Language Models

Task planning can require defining myriad domain knowledge about the wor...

1 Ishika Singh, et al. ∙

research

∙ 09/12/2022

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

Transformers have revolutionized vision and natural language processing ...

2 Mohit Shridhar, et al. ∙

research

∙ 07/27/2022

Break and Make: Interactive Structural Understanding Using LEGO Bricks

Visual understanding of geometric structures with complex spatial relati...

1 Aaron Walsman, et al. ∙

research

∙ 07/06/2022

Deep Learning Approaches to Grasp Synthesis: A Review

Grasping is the process of picking an object by applying forces and torq...

0 Rhys Newbury, et al. ∙

research

∙ 06/29/2022

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions

The pipeline of current robotic pick-and-place methods typically consist...

8 Yun-Chun Chen, et al. ∙

research

∙ 05/19/2022

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers

We introduce a new simulation benchmark "HandoverSim" for human-to-robot...

17 Yu-Wei Chao, et al. ∙

research

∙ 05/07/2022

Factory: Fast Contact for Robotic Assembly

Robotic assembly is one of the oldest and most challenging applications ...

3 Yashraj Narang, et al. ∙

research

∙ 04/11/2022

Correcting Robot Plans with Natural Language Feedback

When humans design cost or goal specifications for robots, they often pr...

2 Pratyusha Sharma, et al. ∙

research

∙ 03/31/2022

Model Predictive Control for Fluid Human-to-Robot Handovers

Human-robot handover is a fundamental yet challenging task in human-robo...

8 Wei Yang, et al. ∙

research

∙ 03/21/2022

DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...

0 Isabella Huang, et al. ∙

research

∙ 03/19/2022

DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting

Robotic cutting of soft materials is critical for applications such as f...

6 Eric Heiden, et al. ∙

research

∙ 02/01/2022

IFOR: Iterative Flow Minimization for Robotic Object Rearrangement

Accurate object rearrangement from vision is a crucial problem for a wid...

6 Ankit Goyal, et al. ∙

research

∙ 12/31/2021

iCaps: Iterative Category-level Object Pose and Shape Estimation

This paper proposes a category-level 6D object pose and shape estimation...

5 Xinke Deng, et al. ∙

research

∙ 12/09/2021

Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations

Sharing autonomy between robots and human operators could facilitate dat...

0 Henry M. Clever, et al. ∙

research

∙ 12/09/2021

A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation

Deformable object manipulation remains a challenging task in robotics re...

12 Rika Antonova, et al. ∙

research

∙ 11/09/2021

Learning Perceptual Concepts by Bootstrapping from Human Queries

Robots need to be able to learn concepts from their users in order to ad...

4 Andreea Bobu, et al. ∙

research

∙ 10/28/2021

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence

Machine learning has long since become a keystone technology, accelerati...

46 Nicholas Roy, et al. ∙

research

∙ 10/19/2021

StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects

Geometric organization of objects into semantically meaningful arrangeme...

7 Weiyu Liu, et al. ∙

research

∙ 10/05/2021

Continuous-Time Fitted Value Iteration for Robust Policies

Solving the Hamilton-Jacobi-Bellman equation is important in many domain...

1 Michael Lutter, et al. ∙

research

∙ 09/24/2021

CLIPort: What and Where Pathways for Robotic Manipulation

How can we imbue robots with the ability to manipulate objects precisely...

6 Mohit Shridhar, et al. ∙

research

∙ 09/21/2021

Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior

Classical mechanical systems are central to controller design in energy ...

0 Karl Van Wyk, et al. ∙

research

∙ 09/08/2021

SORNet: Spatial Object-Centric Representations for Sequential Manipulation

Sequential manipulation tasks require a robot to perceive the state of a...

12 Wentao Yuan, et al. ∙

research

∙ 08/26/2021

Predicting Stable Configurations for Semantic Placement of Novel Objects

Human environments contain numerous objects configured in a variety of a...

2 Chris Paxton, et al. ∙

research

∙ 07/12/2021

DefGraspSim: Simulation-based grasping of 3D deformable objects

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...

0 Isabella Huang, et al. ∙

research

∙ 07/12/2021

A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution

Natural language provides an accessible and expressive interface to spec...

18 Valts Blukis, et al. ∙

research

∙ 07/09/2021

BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym

BayesSim is a statistical technique for domain randomization in reinforc...

0 Rika Antonova, et al. ∙

research

∙ 07/07/2021

LanguageRefer: Spatial-Language Model for 3D Visual Grounding

To realize robots that can understand human instructions and perform mea...

5 Junha Roh, et al. ∙

research

∙ 07/04/2021

Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans

6D grasping in cluttered scenes is a longstanding robotic manipulation p...

0 Lirui Wang, et al. ∙

research

∙ 06/29/2021

RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks

Segmenting unseen object instances in cluttered environments is an impor...

9 Christopher Xie, et al. ∙

research

∙ 06/02/2021

NeRP: Neural Rearrangement Planning for Unknown Objects

Robots will be expected to manipulate a wide variety of objects in compl...

42 Ahmed H. Qureshi, et al. ∙

Dieter Fox

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