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09/14/2023
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping
Grasping objects by a specific part is often crucial for safety and for ...
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07/13/2023
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Accurate 3D sensing of suturing thread is a challenging problem in autom...
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07/08/2023
The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps
We present the "Busboy Problem": automating an efficient decluttering of...
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06/29/2023
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists
The AlphaGarden is an automated testbed for indoor polyculture farming w...
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06/29/2023
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity
The Robot Operating System (ROS2) is the most widely used software platf...
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06/27/2023
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors
Imitation learning has been applied to a range of robotic tasks, but can...
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06/24/2023
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping
Recently, robots have seen rapidly increasing use in homes and warehouse...
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06/16/2023
Robot Learning with Sensorimotor Pre-training
We present a self-supervised sensorimotor pre-training approach for robo...
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05/23/2023
Video Prediction Models as Rewards for Reinforcement Learning
Specifying reward signals that allow agents to learn complex behaviors i...
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03/29/2023
Bagging by Learning to Singulate Layers Using Interactive Perception
Many fabric handling and 2D deformable material tasks in homes and indus...
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03/16/2023
LERF: Language Embedded Radiance Fields
Humans describe the physical world using natural language to refer to sp...
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03/15/2023
Learning to Trace and Untangle Semi-planar Knots (TUSK)
This paper extends prior work on untangling long cables and presents TUS...
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02/24/2023
From Occlusion to Insight: Object Search in Semantic Shelves using Large Language Models
How can a robot efficiently extract a desired object from a shelf when i...
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11/04/2022
Automating Vascular Shunt Insertion with the dVRK Surgical Robot
Vascular shunt insertion is a fundamental surgical procedure used to tem...
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10/31/2022
AutoBag: Learning to Open Plastic Bags and Insert Objects
Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...
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10/21/2022
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability
Fog Robotics renders networked robots with greater mobility, on-demand c...
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10/14/2022
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations
Providing densely shaped reward functions for RL algorithms is often exc...
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10/13/2022
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
We consider a decluttering problem where multiple rigid convex polygonal...
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10/04/2022
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion
Industrial insertion tasks are often performed repetitively with parts t...
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09/27/2022
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Cables are commonplace in homes, hospitals, and industrial warehouses an...
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09/26/2022
Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces
Humans make extensive use of vision and touch as complementary senses, w...
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08/22/2022
SpeedFolding: Learning Efficient Bimanual Folding of Garments
Folding garments reliably and efficiently is a long standing challenge i...
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08/22/2022
Automated Pruning of Polyculture Plants
Polyculture farming has environmental advantages but requires substantia...
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07/16/2022
Autonomously Untangling Long Cables
Cables are ubiquitous in many settings and it is often useful to untangl...
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07/05/2022
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Stacking increases storage efficiency in shelves, but the lack of visibi...
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07/02/2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies
Simulation-to-reality transfer has emerged as a popular and highly succe...
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06/29/2022
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Commercial and industrial deployments of robot fleets often fall back on...
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06/28/2022
DayDreamer: World Models for Physical Robot Learning
To solve tasks in complex environments, robots need to learn from experi...
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06/17/2022
Efficiently Learning Single-Arm Fling Motions to Smooth Garments
Recent work has shown that 2-arm "fling" motions can be effective for ga...
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06/17/2022
Optimal Shelf Arrangement to Minimize Robot Retrieval Time
Shelves are commonly used to store objects in homes, stores, and warehou...
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06/01/2022
Multi-Object Grasping in the Plane
We consider the problem where multiple rigid convex polygonal objects re...
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05/19/2022
FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2
Mobility, power, and price points often dictate that robots do not have ...
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05/14/2022
The Sky Above The Clouds
Technology ecosystems often undergo significant transformations as they ...
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04/21/2022
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Autonomous fabric manipulation is a longstanding challenge in robotics, ...
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03/28/2022
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions
Training a high-dimensional simulated agent with an under-specified rewa...
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03/16/2022
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport
Suction cup grasping is very common in industry, but moving too quickly ...
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03/09/2022
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators
Large-scale semantic image annotation is a significant challenge for lea...
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03/08/2022
Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models
For applications in healthcare, physics, energy, robotics, and many othe...
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03/03/2022
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning
Action representation is an important yet often overlooked aspect in end...
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01/22/2022
Mechanical Search on Shelves using a Novel "Bluction" Tool
Shelves are common in homes, warehouses, and commercial settings due to ...
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12/08/2021
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...
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12/07/2021
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance
Safe exploration is critical for using reinforcement learning (RL) in ri...
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11/29/2021
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Previous work defined Exploratory Grasping, where a robot iteratively gr...
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11/11/2021
AlphaGarden: Learning to Autonomously Tend a Polyculture Garden
This paper presents AlphaGarden: an autonomous polyculture garden that p...
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11/08/2021
Planar Robot Casting with Real2Sim2Real Self-Supervised Learning
Manipulation of deformable objects using a single parameterized dynamic ...
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11/02/2021
Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models
Soft compliant jaw tips are almost universally used with parallel-jaw ro...
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10/28/2021
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
High-speed motions in pick-and-place operations are critical to making r...
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10/27/2021
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
The ability to grasp and manipulate transparent objects is a major chall...
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09/17/2021
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Effective robot learning often requires online human feedback and interv...
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08/25/2021