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07/26/2023
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
We present a framework for robot skill acquisition, which 1) efficiently...
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07/21/2023
RICo: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction
General scene reconstruction refers to the task of estimating the full 3...
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07/10/2023
RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
We propose a novel approach to multi-robot collaboration that harnesses ...
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07/01/2023
General Part Assembly Planning
Most successes in autonomous robotic assembly have been restricted to si...
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06/27/2023
REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction
The ability to detect and analyze failed executions automatically is cru...
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05/09/2023
TidyBot: Personalized Robot Assistance with Large Language Models
For a robot to personalize physical assistance effectively, it must lear...
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04/27/2023
DataComp: In search of the next generation of multimodal datasets
Large multimodal datasets have been instrumental in recent breakthroughs...
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04/08/2023
Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
The choice of a grasp plays a critical role in the success of downstream...
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03/12/2023
Decision Making for Human-in-the-loop Robotic Agents via Uncertainty-Aware Reinforcement Learning
In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly a...
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02/16/2023
Learning a Meta-Controller for Dynamic Grasping
Grasping moving objects is a challenging task that combines multiple sub...
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10/18/2022
Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects
We introduce a practical robotics solution for the task of heterogeneous...
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10/17/2022
Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Automating garment manipulation is challenging due to extremely high var...
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09/30/2022
ASPiRe:Adaptive Skill Priors for Reinforcement Learning
We introduce ASPiRe (Adaptive Skill Prior for RL), a new approach that l...
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09/19/2022
TANDEM3D: Active Tactile Exploration for 3D Object Recognition
Tactile recognition of 3D objects remains a challenging task. Compared t...
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08/10/2022
Patching open-vocabulary models by interpolating weights
Open-vocabulary models like CLIP achieve high accuracy across many image...
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07/23/2022
Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models
We study open-world 3D scene understanding, a family of tasks that requi...
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07/19/2022
Structure from Action: Learning Interactions for Articulated Object 3D Structure Discovery
Articulated objects are abundant in daily life. Discovering their parts,...
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06/03/2022
FishGym: A High-Performance Physics-based Simulation Framework for Underwater Robot Learning
Bionic underwater robots have demonstrated their superiority in many app...
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04/05/2022
Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as ...
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03/31/2022
Continuous Scene Representations for Embodied AI
We propose Continuous Scene Representations (CSR), a scene representatio...
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03/20/2022
CLIP on Wheels: Zero-Shot Object Navigation as Object Localization and Exploration
Households across the world contain arbitrary objects: from mate gourds ...
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03/02/2022
DextAIRity: Deformable Manipulation Can be a Breeze
This paper introduces DextAIRity, an approach to manipulate deformable o...
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03/01/2022
TANDEM: Learning Joint Exploration and Decision Making with Tactile Sensors
Inspired by the human ability to perform complex manipulation in the com...
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03/01/2022
Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects
This paper tackles the task of goal-conditioned dynamic manipulation of ...
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10/09/2021
Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly
Studies in robot teleoperation have been centered around action specific...
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09/13/2021
UMPNet: Universal Manipulation Policy Network for Articulated Objects
We introduce the Universal Manipulation Policy Network (UMPNet) – a sing...
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07/01/2021
Learning to See before Learning to Act: Visual Pre-training for Manipulation
Does having visual priors (e.g. the ability to detect objects) facilitat...
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05/08/2021
FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding
High-velocity dynamic actions (e.g., fling or throw) play a crucial role...
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05/03/2021
Act the Part: Learning Interaction Strategies for Articulated Object Part Discovery
People often use physical intuition when manipulating articulated object...
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04/12/2021
GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completion
This paper tackles the task of category-level pose estimation for garmen...
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03/23/2021
Spatial Intention Maps for Multi-Agent Mobile Manipulation
The ability to communicate intention enables decentralized multi-agent r...
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03/18/2021
Dynamic Grasping with Reachability and Motion Awareness
Grasping in dynamic environments presents a unique set of challenges. A ...
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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...
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11/28/2020
AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
This paper aims to improve robots' versatility and adaptability by allow...
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11/12/2020
Fit2Form: 3D Generative Model for Robot Gripper Form Design
The 3D shape of a robot's end-effector plays a critical role in determin...
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11/05/2020
Learning a Decentralized Multi-arm Motion Planner
We present a closed-loop multi-arm motion planner that is scalable and f...
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11/03/2020
Learning 3D Dynamic Scene Representations for Robot Manipulation
3D scene representation for robot manipulation should capture three key ...
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07/14/2020
Multitask Learning Strengthens Adversarial Robustness
Although deep networks achieve strong accuracy on a range of computer vi...
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04/20/2020
Spatial Action Maps for Mobile Manipulation
This paper proposes a new action representation for learning to perform ...
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12/26/2019
Category-Level Articulated Object Pose Estimation
This paper addresses the task of category-level pose estimation for arti...
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12/09/2019
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Intelligent manipulation benefits from the capacity to flexibly control ...
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10/30/2019
Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Is it possible to learn policies for robotic assembly that can generaliz...
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10/15/2019
Visual Hide and Seek
We train embodied agents to play Visual Hide and Seek where a prey must ...
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10/06/2019
ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation
Transparent objects are a common part of everyday life, yet they possess...
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06/18/2019
Neural Illumination: Lighting Prediction for Indoor Environments
This paper addresses the task of estimating the light arriving from all ...
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06/10/2019
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
We study the problem of learning physical object representations for rob...
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03/27/2019
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
We investigate whether a robot arm can learn to pick and throw arbitrary...
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01/09/2019
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
The goal of this paper is to estimate the 6D pose and dimensions of unse...
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03/27/2018
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Skilled robotic manipulation benefits from complex synergies between non...
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12/12/2017