Roberto Martín-Martín

research

∙ 06/29/2023

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

A major challenge to deploying robots widely is navigation in human-popu...

0 Anthony Francis, et al. ∙

research

∙ 05/23/2023

M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer

In this paper, we propose a method to create visuomotor mobile manipulat...

0 Bohan Wu, et al. ∙

research

∙ 05/04/2023

Causal Policy Gradient for Whole-Body Mobile Manipulation

Developing the next generation of household robot helpers requires combi...

0 Jiaheng Hu, et al. ∙

research

∙ 03/31/2023

Procedure-Aware Pretraining for Instructional Video Understanding

Our goal is to learn a video representation that is useful for downstrea...

0 Honglu Zhou, et al. ∙

research

∙ 01/06/2023

Model-Agnostic Hierarchical Attention for 3D Object Detection

Transformers as versatile network architectures have recently seen great...

0 Manli Shu, et al. ∙

research

∙ 12/09/2021

Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation

In mobile manipulation (MM), robots can both navigate within and interac...

9 Josiah Wong, et al. ∙

research

∙ 08/06/2021

BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments

We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities i...

10 Sanjana Srivastava, et al. ∙

research

∙ 08/06/2021

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Recent research in embodied AI has been boosted by the use of simulation...

18 Chengshu Li, et al. ∙

research

∙ 05/18/2021

Differentiable Factor Graph Optimization for Learning Smoothers

A recent line of work has shown that end-to-end optimization of Bayesian...

0 Brent Yi, et al. ∙

research

∙ 03/29/2021

LASER: Learning a Latent Action Space for Efficient Reinforcement Learning

The process of learning a manipulation task depends strongly on the acti...

0 Arthur Allshire, et al. ∙

research

∙ 03/06/2021

Greedy Hierarchical Variational Autoencoders for Large-Scale Video Prediction

A video prediction model that generalizes to diverse scenes would enable...

11 Bohan Wu, et al. ∙

research

∙ 12/12/2020

Learning Multi-Arm Manipulation Through Collaborative Teleoperation

Imitation Learning (IL) is a powerful paradigm to teach robots to perfor...

7 Albert Tung, et al. ∙

research

∙ 12/12/2020

Human-in-the-Loop Imitation Learning using Remote Teleoperation

Imitation Learning is a promising paradigm for learning complex robot ma...

15 Ajay Mandlekar, et al. ∙

research

∙ 12/07/2020

Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search

Searching for objects in indoor organized environments such as homes or ...

68 Andrey Kurenkov, et al. ∙

research

∙ 12/05/2020

iGibson, a Simulation Environment for Interactive Tasks in Large Realistic Scenes

We present iGibson, a novel simulation environment to develop robotic so...

9 Bokui Shen, et al. ∙

research

∙ 11/17/2020

Deep Affordance Foresight: Planning Through What Can Be Done in the Future

Planning in realistic environments requires searching in large planning ...

0 Danfei Xu, et al. ∙

research

∙ 10/25/2020

Multimodal Sensor Fusion with Differentiable Filters

Leveraging multimodal information with recursive Bayesian filters improv...

0 Michelle A. Lee, et al. ∙

research

∙ 10/16/2020

Robot Navigation in Constrained Pedestrian Environments using Reinforcement Learning

Navigating fluently around pedestrians is a necessary capability for mob...

0 Claudia Pérez-D'Arpino, et al. ∙

research

∙ 09/25/2020

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

robosuite is a simulation framework for robot learning powered by the Mu...

7 Yuke Zhu, et al. ∙

research

∙ 08/18/2020

ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation

Many Reinforcement Learning (RL) approaches use joint control signals (p...

2 Fei Xia, et al. ∙

research

∙ 08/13/2020

Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter

When searching for objects in cluttered environments, it is often necess...

4 Andrey Kurenkov, et al. ∙

research

∙ 03/20/2020

Probabilistic Visual Navigation with Bidirectional Image Prediction

Humans can robustly follow a visual trajectory defined by a sequence of ...

0 Noriaki Hirose, et al. ∙

research

∙ 03/13/2020

Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations

Imitation learning is an effective and safe technique to train robot pol...

3 Ajay Mandlekar, et al. ∙

research

∙ 02/19/2020

JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset

An autonomous navigating agent needs to perceive and track the motion of...

11 Abhijeet Shenoi, et al. ∙

research

∙ 11/03/2019

Leveraging Pretrained Image Classifiers for Language-Based Segmentation

Current semantic segmentation models cannot easily generalize to new obj...

6 David Golub, et al. ∙

research

∙ 10/30/2019

Interactive Gibson: A Benchmark for Interactive Navigation in Cluttered Environments

We present Interactive Gibson, the first comprehensive benchmark for tra...

17 Fei Xia, et al. ∙

research

∙ 10/25/2019

JRDB: A Dataset and Benchmark for Visual Perception for Navigation in Human Environments

We present JRDB, a novel dataset collected from our social mobile manipu...

15 Roberto Martín-Martín, et al. ∙

research

∙ 10/24/2019

HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators

Most common navigation tasks in human environments require auxiliary arm...

13 Chengshu Li, et al. ∙

research

∙ 09/28/2019

Regression Planning Networks

Recent learning-to-plan methods have shown promising results on planning...

87 Danfei Xu, et al. ∙

research

∙ 09/09/2019

AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers

The exploration mechanism used by a Deep Reinforcement Learning (RL) age...

7 Andrey Kurenkov, et al. ∙

research

∙ 07/24/2019

DANTE: Deep Affinity Network for Clustering Conversational Interactants

We propose a data-driven approach to visually detect conversational grou...

1 Mason Swofford, et al. ∙

research

∙ 07/04/2019

Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks

Predicting the future trajectories of multiple interacting agents in a s...

3 Vineet Kosaraju, et al. ∙

research

∙ 06/20/2019

Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks

Reinforcement Learning (RL) of contact-rich manipulation tasks has yield...

2 Roberto Martín-Martín, et al. ∙

research

∙ 05/13/2019

Deep Local Trajectory Replanning and Control for Robot Navigation

We present a navigation system that combines ideas from hierarchical pla...

4 Ashwini Pokle, et al. ∙

research

∙ 03/07/2019

Deep Visual MPC-Policy Learning for Navigation

Humans can routinely follow a trajectory defined by a list of images/lan...

0 Noriaki Hirose, et al. ∙

research

∙ 03/04/2019

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter

When operating in unstructured environments such as warehouses, homes, a...

0 Michael Danielczuk, et al. ∙

research

∙ 01/15/2019

DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion

A key technical challenge in performing 6D object pose estimation from R...

10 Chen Wang, et al. ∙

research

∙ 06/17/2018

The RBO Dataset of Articulated Objects and Interactions

We present a dataset with models of 14 articulated objects commonly foun...

0 Roberto Martín-Martín, et al. ∙

Roberto Martín-Martín

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