Dieter Fox

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University of Washington ∙ Nvidia

Senior Director of Robotics Research at NVIDIA and Professor at University of Washington

DefGraspSim: Simulation-based grasping of 3D deformable objects

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
07/12/2021 ∙ by Isabella Huang, et al. ∙ 0 ∙ share

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

Natural language provides an accessible and expressive interface to spec...
07/12/2021 ∙ by Valts Blukis, et al. ∙ 18 ∙ share

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BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym

BayesSim is a statistical technique for domain randomization in reinforc...
07/09/2021 ∙ by Rika Antonova, et al. ∙ 0 ∙ share

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LanguageRefer: Spatial-Language Model for 3D Visual Grounding

To realize robots that can understand human instructions and perform mea...
07/07/2021 ∙ by Junha Roh, et al. ∙ 5 ∙ share

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Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans

6D grasping in cluttered scenes is a longstanding robotic manipulation p...
07/04/2021 ∙ by Lirui Wang, et al. ∙ 0 ∙ share

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

Segmenting unseen object instances in cluttered environments is an impor...
06/29/2021 ∙ by Christopher Xie, et al. ∙ 9 ∙ share

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NeRP: Neural Rearrangement Planning for Unknown Objects

Robots will be expected to manipulate a wide variety of objects in compl...
06/02/2021 ∙ by Ahmed H. Qureshi, et al. ∙ 42 ∙ share

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DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting

Robotic cutting of soft materials is critical for applications such as f...
05/25/2021 ∙ by Eric Heiden, et al. ∙ 0 ∙ share

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Robust Value Iteration for Continuous Control Tasks

When transferring a control policy from simulation to a physical system,...
05/25/2021 ∙ by Michael Lutter, et al. ∙ 2 ∙ share

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Value Iteration in Continuous Actions, States and Time

Classical value iteration approaches are not applicable to environments ...
05/10/2021 ∙ by Michael Lutter, et al. ∙ 4 ∙ share

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Fast Joint Space Model-Predictive Control for Reactive Manipulation

Sampling-based model predictive control (MPC) is a promising tool for fe...
04/28/2021 ∙ by Mohak Bhardwaj, et al. ∙ 0 ∙ share

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DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of object...
04/09/2021 ∙ by Yu-Wei Chao, et al. ∙ 5 ∙ share

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RGB-D Local Implicit Function for Depth Completion of Transparent Objects

Majority of the perception methods in robotics require depth information...
04/01/2021 ∙ by Luyang Zhu, et al. ∙ 25 ∙ share

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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...
03/31/2021 ∙ by Yashraj Narang, et al. ∙ 0 ∙ share

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Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes

Grasping unseen objects in unconstrained, cluttered environments is an e...
03/25/2021 ∙ by Martin Sundermeyer, et al. ∙ 6 ∙ share

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Learning Composable Behavior Embeddings for Long-horizon Visual Navigation

Learning high-level navigation behaviors has important implications: it ...
02/19/2021 ∙ by Xiangyun Meng, et al. ∙ 0 ∙ share

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Interpreting and Predicting Tactile Signals for the SynTouch BioTac

In the human hand, high-density contact information provided by afferent...
01/14/2021 ∙ by Yashraj S. Narang, et al. ∙ 0 ∙ share

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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...
12/29/2020 ∙ by Fahad Islam, et al. ∙ 0 ∙ share

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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 ...
12/24/2020 ∙ by M. Asif Rana, et al. ∙ 6 ∙ share

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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...
12/07/2020 ∙ by Sebastian Höfer, et al. ∙ 4 ∙ share

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Object Rearrangement Using Learned Implicit Collision Functions

Robotic object rearrangement combines the skills of picking and placing ...
11/21/2020 ∙ by Michael Danielczuk, et al. ∙ 3 ∙ share

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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...
11/18/2020 ∙ by Clemens Eppner, et al. ∙ 6 ∙ share

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A User's Guide to Calibrating Robotics Simulators

Simulators are a critical component of modern robotics research. Strateg...
11/17/2020 ∙ by Bhairav Mehta, et al. ∙ 5 ∙ share

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Reactive Human-to-Robot Handovers of Arbitrary Objects

Human-robot object handovers have been an actively studied area of robot...
11/17/2020 ∙ by Wei Yang, et al. ∙ 2 ∙ share

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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...
11/17/2020 ∙ by Shohin Mukherjee, et al. ∙ 7 ∙ share

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Stein Variational Model Predictive Control

Decision making under uncertainty is critical to real-world, autonomous ...
11/15/2020 ∙ by Alexander Lambert, et al. ∙ 7 ∙ share

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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...
11/08/2020 ∙ by Junha Roh, et al. ∙ 5 ∙ share

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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics

Sound is an information-rich medium that captures dynamic physical event...
11/05/2020 ∙ by Carolyn Matl, et al. ∙ 0 ∙ share

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion

This paper describes the pragmatic design and construction of geometric ...
10/28/2020 ∙ by Mandy Xie, et al. ∙ 0 ∙ share

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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...
10/02/2020 ∙ by Lirui Wang, et al. ∙ 9 ∙ share

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DeepGMR: Learning Latent Gaussian Mixture Models for Registration

Point cloud registration is a fundamental problem in 3D computer vision,...
08/20/2020 ∙ by Wentao Yuan, et al. ∙ 49 ∙ share

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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...
07/30/2020 ∙ by Yu Xiang, et al. ∙ 12 ∙ share

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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...
07/25/2020 ∙ by Ching-An Cheng, et al. ∙ 0 ∙ share

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Unseen Object Instance Segmentation for Robotic Environments

In order to function in unstructured environments, robots need the abili...
07/16/2020 ∙ by Christopher Xie, et al. ∙ 21 ∙ share

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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...
07/01/2020 ∙ by Yunzhu Li, et al. ∙ 0 ∙ share

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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...
06/06/2020 ∙ by Yashraj S. Narang, et al. ∙ 0 ∙ share

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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...
06/04/2020 ∙ by Ian Abraham, et al. ∙ 0 ∙ share

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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems

Robotic tasks often require motions with complex geometric structures. W...
05/27/2020 ∙ by Muhammad Asif Rana, et al. ∙ 0 ∙ share

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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...
05/21/2020 ∙ by Michelle A. Lee, et al. ∙ 33 ∙ share

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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...
03/18/2020 ∙ by Carolyn Matl, et al. ∙ 0 ∙ share

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Watching the World Go By: Representation Learning from Unlabeled Videos

Recent single image unsupervised representation learning techniques show...
03/18/2020 ∙ by Daniel Gordon, et al. ∙ 12 ∙ share

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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...
03/12/2020 ∙ by Wei Yang, et al. ∙ 7 ∙ share

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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 ...
03/08/2020 ∙ by Kei Kase, et al. ∙ 0 ∙ share

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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...
02/27/2020 ∙ by Jacky Liang, et al. ∙ 0 ∙ share

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Information Theoretic Model Predictive Q-Learning

Model-free Reinforcement Learning (RL) algorithms work well in sequentia...
12/31/2019 ∙ by Mohak Bhardwaj, et al. ∙ 29 ∙ share

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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...
12/11/2019 ∙ by Clemens Eppner, et al. ∙ 14 ∙ share

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6-DOF Grasping for Target-driven Object Manipulation in Clutter

Grasping in cluttered environments is a fundamental but challenging robo...
12/08/2019 ∙ by Adithyavairavan Murali, et al. ∙ 12 ∙ share

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ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks

We present ALFRED (Action Learning From Realistic Environments and Direc...
12/03/2019 ∙ by Mohit Shridhar, et al. ∙ 5 ∙ share

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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...
12/01/2019 ∙ by Keunhong Park, et al. ∙ 35 ∙ share

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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...
11/22/2019 ∙ by Lirui Wang, et al. ∙ 0 ∙ share

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Dieter Fox

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