b'Dieter Fox'

research

∙ 07/27/2022

Break and Make: Interactive Structural Understanding Using LEGO Bricks

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

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...

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...

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...

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 ...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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 ...

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...

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...

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...

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...

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...

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...

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...

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...

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...

Ahmed H. Qureshi, et al. ∙

research

∙ 05/25/2021

DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting

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

Eric Heiden, et al. ∙

research

∙ 05/25/2021

Robust Value Iteration for Continuous Control Tasks

When transferring a control policy from simulation to a physical system,...

Michael Lutter, et al. ∙

research

∙ 05/10/2021

Value Iteration in Continuous Actions, States and Time

Classical value iteration approaches are not applicable to environments ...

Michael Lutter, et al. ∙

research

∙ 04/28/2021

Fast Joint Space Model-Predictive Control for Reactive Manipulation

Sampling-based model predictive control (MPC) is a promising tool for fe...

Mohak Bhardwaj, et al. ∙

research

∙ 04/09/2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of object...

Yu-Wei Chao, et al. ∙

research

∙ 04/01/2021

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

Majority of the perception methods in robotics require depth information...

Luyang Zhu, et al. ∙

research

∙ 03/31/2021

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...

Yashraj Narang, et al. ∙

research

∙ 03/25/2021

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

Grasping unseen objects in unconstrained, cluttered environments is an e...

Martin Sundermeyer, et al. ∙

research

∙ 02/19/2021

Learning Composable Behavior Embeddings for Long-horizon Visual Navigation

Learning high-level navigation behaviors has important implications: it ...

Xiangyun Meng, et al. ∙

research

∙ 01/14/2021

Interpreting and Predicting Tactile Signals for the SynTouch BioTac

In the human hand, high-density contact information provided by afferent...

Yashraj S. Narang, et al. ∙

research

∙ 12/29/2020

Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments

In many applications, including logistics and manufacturing, robot manip...

Fahad Islam, et al. ∙

research

∙ 12/24/2020

Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees

Robotic tasks often require generation of motions that satisfy multiple ...

M. Asif Rana, et al. ∙

research

∙ 12/07/2020

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...

Sebastian Höfer, et al. ∙

research

∙ 11/21/2020

Object Rearrangement Using Learned Implicit Collision Functions

Robotic object rearrangement combines the skills of picking and placing ...

Michael Danielczuk, et al. ∙

research

∙ 11/18/2020

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

We introduce ACRONYM, a dataset for robot grasp planning based on physic...

Clemens Eppner, et al. ∙

research

∙ 11/17/2020

A User's Guide to Calibrating Robotics Simulators

Simulators are a critical component of modern robotics research. Strateg...

Bhairav Mehta, et al. ∙

research

∙ 11/17/2020

Reactive Human-to-Robot Handovers of Arbitrary Objects

Human-robot object handovers have been an actively studied area of robot...

Wei Yang, et al. ∙

research

∙ 11/17/2020

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...

Shohin Mukherjee, et al. ∙

research

∙ 11/15/2020

Stein Variational Model Predictive Control

Decision making under uncertainty is critical to real-world, autonomous ...

Alexander Lambert, et al. ∙

research

∙ 11/08/2020

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

We focus on decentralized navigation among multiple non-communicating ra...

Junha Roh, et al. ∙

research

∙ 11/05/2020

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

Sound is an information-rich medium that captures dynamic physical event...

Carolyn Matl, et al. ∙

research

∙ 10/28/2020

Geometric Fabrics for the Acceleration-based Design of Robotic Motion

This paper describes the pragmatic design and construction of geometric ...

Mandy Xie, et al. ∙

Dieter Fox

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