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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...
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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 ...
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06/26/2023
RVT: Robotic View Transformer for 3D Object Manipulation
For 3D object manipulation, methods that build an explicit 3D representa...
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06/23/2023
AR2-D2:Training a Robot Without a Robot
Diligently gathered human demonstrations serve as the unsung heroes empo...
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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...
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05/26/2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Robotic assembly is a longstanding challenge, requiring contact-rich int...
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05/25/2023
Imitating Task and Motion Planning with Visuomotor Transformers
Imitation learning is a powerful tool for training robot manipulation po...
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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...
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03/30/2023
Learning Human-to-Robot Handovers from Point Clouds
We propose the first framework to learn control policies for vision-base...
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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...
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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...
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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...
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02/21/2023
Constrained Generative Sampling of 6-DoF Grasps
Most state-of-the-art data-driven grasp sampling methods propose stable ...
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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...
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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...
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10/25/2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
Recent work has demonstrated the ability of deep reinforcement learning ...
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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...
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10/21/2022
Motion Policy Networks
Collision-free motion generation in unknown environments is a core build...
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10/21/2022
Neural Fields for Robotic Object Manipulation from a Single Image
We present a unified and compact representation for object rendering, 3D...
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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...
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09/22/2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the wor...
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09/12/2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
Transformers have revolutionized vision and natural language processing ...
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07/27/2022
Break and Make: Interactive Structural Understanding Using LEGO Bricks
Visual understanding of geometric structures with complex spatial relati...
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07/06/2022
Deep Learning Approaches to Grasp Synthesis: A Review
Grasping is the process of picking an object by applying forces and torq...
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06/29/2022
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions
The pipeline of current robotic pick-and-place methods typically consist...
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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...
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05/07/2022
Factory: Fast Contact for Robotic Assembly
Robotic assembly is one of the oldest and most challenging applications ...
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04/11/2022
Correcting Robot Plans with Natural Language Feedback
When humans design cost or goal specifications for robots, they often pr...
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03/31/2022
Model Predictive Control for Fluid Human-to-Robot Handovers
Human-robot handover is a fundamental yet challenging task in human-robo...
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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...
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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...
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02/01/2022
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
Accurate object rearrangement from vision is a crucial problem for a wid...
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12/31/2021
iCaps: Iterative Category-level Object Pose and Shape Estimation
This paper proposes a category-level 6D object pose and shape estimation...
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12/09/2021
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Sharing autonomy between robots and human operators could facilitate dat...
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12/09/2021
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Deformable object manipulation remains a challenging task in robotics re...
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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...
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10/28/2021
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Machine learning has long since become a keystone technology, accelerati...
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10/19/2021
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Geometric organization of objects into semantically meaningful arrangeme...
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10/05/2021
Continuous-Time Fitted Value Iteration for Robust Policies
Solving the Hamilton-Jacobi-Bellman equation is important in many domain...
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09/24/2021
CLIPort: What and Where Pathways for Robotic Manipulation
How can we imbue robots with the ability to manipulate objects precisely...
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09/21/2021
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Classical mechanical systems are central to controller design in energy ...
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09/08/2021
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Sequential manipulation tasks require a robot to perceive the state of a...
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08/26/2021
Predicting Stable Configurations for Semantic Placement of Novel Objects
Human environments contain numerous objects configured in a variety of a...
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07/12/2021
DefGraspSim: Simulation-based grasping of 3D deformable objects
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, inte...
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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...
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07/09/2021
BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym
BayesSim is a statistical technique for domain randomization in reinforc...
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07/07/2021
LanguageRefer: Spatial-Language Model for 3D Visual Grounding
To realize robots that can understand human instructions and perform mea...
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07/04/2021
Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans
6D grasping in cluttered scenes is a longstanding robotic manipulation p...
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06/29/2021
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
Segmenting unseen object instances in cluttered environments is an impor...
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06/02/2021