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05/11/2023
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Scaling to arbitrarily large bundle adjustment problems requires data an...
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04/24/2023
USA-Net: Unified Semantic and Affordance Representations for Robot Memory
In order for robots to follow open-ended instructions like "go open the ...
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04/03/2023
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models
Simulating vision-based tactile sensors enables learning models for cont...
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11/04/2022
Neural Grasp Distance Fields for Robot Manipulation
We formulate grasp learning as a neural field and present Neural Grasp D...
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10/25/2022
MidasTouch: Monte-Carlo inference over distributions across sliding touch
We present MidasTouch, a tactile perception system for online global loc...
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10/17/2022
Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing
We present Neural Contact Fields, a method that brings together neural f...
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10/11/2022
In-Hand Gravitational Pivoting Using Tactile Sensing
We study gravitational pivoting, a constrained version of in-hand manipu...
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07/19/2022
Theseus: A Library for Differentiable Nonlinear Optimization
We present Theseus, an efficient application-agnostic open source librar...
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07/11/2022
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, ...
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04/05/2022
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception
We present iSDF, a continual learning system for real-time signed distan...
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11/15/2021
PatchGraph: In-hand tactile tracking with learned surface normals
We address the problem of tracking 3D object poses from touch during in-...
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08/04/2021
LEO: Learning Energy-based Models in Graph Optimization
We address the problem of learning observation models end-to-end for est...
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06/28/2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat
We introduce Habitat 2.0 (H2.0), a simulation platform for training virt...
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05/28/2021
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
We propose a novel sparse constrained formulation and from it derive a r...
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12/07/2020
Learning Tactile Models for Factor Graph-based State Estimation
We address the problem of estimating object pose from touch during manip...
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11/19/2020
Batteries, camera, action! Learning a semantic control space for expressive robot cinematography
Aerial vehicles are revolutionizing the way film-makers can capture shot...
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11/13/2020
Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning
Among the most prevailing motion planning techniques, sampling and traje...
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07/25/2020
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Generating robot motion for multiple tasks in dynamic environments is ch...
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01/24/2020
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm
The recursive Newton-Euler Algorithm (RNEA) is a popular technique in ro...
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10/07/2019
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
RMPflow is a recently proposed policy-fusion framework based on differen...
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08/01/2019
Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
Efficient planning in dynamic and uncertain environments is a fundamenta...
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07/22/2019
Differentiable Gaussian Process Motion Planning
Modern trajectory optimization based approaches to motion planning are f...
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03/08/2019
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
To perform complex tasks, robots must be able to interact with and manip...
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02/14/2019
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
In the multi-robot systems literature, control policies are typically ob...
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11/16/2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation
We develop a novel policy synthesis algorithm, RMPflow, based on geometr...
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08/01/2018
Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
Learning from Demonstration (LfD) is a popular approach to endowing robo...
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07/27/2018