Stan Birchfield

research

∙ 06/21/2022

Vicinity Vision Transformer

Vision transformers have shown great success on numerous computer vision...

Weixuan Sun, et al. ∙

research

∙ 05/23/2022

Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation

We propose a single-stage, category-level 6-DoF pose estimation algorith...

Yunzhi Lin, et al. ∙

research

∙ 05/14/2022

RTMV: A Ray-Traced Multi-View Synthetic Dataset for Novel View Synthesis

We present a large-scale synthetic dataset for novel view synthesis cons...

Jonathan Tremblay, et al. ∙

research

∙ 03/11/2022

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

We present a new dataset for 6-DoF pose estimation of known objects, wit...

Stephen Tyree, et al. ∙

research

∙ 09/23/2021

PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation

Predicting the future motion of traffic agents is crucial for safe and e...

Alexey Kamenev, et al. ∙

research

∙ 09/13/2021

Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image

Prior work on 6-DoF object pose estimation has largely focused on instan...

Yunzhi Lin, et al. ∙

research

∙ 05/28/2021

NViSII: A Scriptable Tool for Photorealistic Image Generation

We present a Python-based renderer built on NVIDIA's OptiX ray tracing e...

Nathan Morrical, et al. ∙

research

∙ 04/09/2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of object...

Yu-Wei Chao, et al. ∙

research

∙ 04/01/2021

Deep Two-View Structure-from-Motion Revisited

Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruc...

Jianyuan Wang, et al. ∙

research

∙ 03/25/2021

Multi-view Fusion for Multi-level Robotic Scene Understanding

We present a system for multi-level scene awareness for robotic manipula...

Yunzhi Lin, et al. ∙

research

∙ 12/14/2020

Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs

We present a visually grounded hierarchical planning algorithm for long-...

Yifeng Zhu, et al. ∙

research

∙ 12/01/2020

Displacement-Invariant Cost Computation for Efficient Stereo Matching

Although deep learning-based methods have dominated stereo matching lead...

Yiran Zhong, et al. ∙

research

∙ 11/16/2020

Fast Uncertainty Quantification for Deep Object Pose Estimation

Deep learning-based object pose estimators are often unreliable and over...

Guanya Shi, et al. ∙

research

∙ 11/12/2020

Joint Space Control via Deep Reinforcement Learning

The dominant way to control a robot manipulator uses hand-crafted differ...

Visak Kumar, et al. ∙

research

∙ 08/26/2020

Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera

We present a robotic grasping system that uses a single external monocul...

Jonathan Tremblay, et al. ∙

research

∙ 08/25/2020

Improving Deep Stereo Network Generalization with Geometric Priors

End-to-end deep learning methods have advanced stereo vision in recent y...

Jialiang Wang, et al. ∙

research

∙ 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...

Ching-An Cheng, et al. ∙

research

∙ 06/09/2020

MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views

Autonomous driving requires the inference of actionable information such...

Ke Chen, et al. ∙

research

∙ 05/02/2020

PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly Randomized Synthetic Data

In comparison with person re-identification (ReID), which has been widel...

Zheng Tang, et al. ∙

research

∙ 11/21/2019

Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies

Using simulation to train robot manipulation policies holds the promise ...

Visak Kumar, et al. ∙

research

∙ 11/21/2019

Camera-to-Robot Pose Estimation from a Single Image

We present an approach for estimating the pose of a camera with respect ...

Timothy E. Lee, et al. ∙

research

∙ 10/07/2019

DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Teleoperation offers the possibility of imparting robotic systems with s...

Ankur Handa, et al. ∙

research

∙ 09/04/2019

Directional Semantic Grasping of Real-World Objects: From Simulation to Reality

We present a deep reinforcement learning approach to grasp semantically ...

Shariq Iqbal, et al. ∙

research

∙ 05/13/2019

Few-Shot Viewpoint Estimation

Viewpoint estimation for known categories of objects has been improved s...

Hung-Yu Tseng, et al. ∙

research

∙ 03/21/2019

CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identification

Urban traffic optimization using traffic cameras as sensors is driving t...

Zheng Tang, et al. ∙

research

∙ 11/16/2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation

We develop a novel policy synthesis algorithm, RMPflow, based on geometr...

Ching-An Cheng, et al. ∙

research

∙ 10/23/2018

Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data

We present structured domain randomization (SDR), a variant of domain ra...

Aayush Prakash, et al. ∙

research

∙ 10/15/2018

Robust Learning of Tactile Force Estimation through Robot Interaction

Current methods for estimating force from tactile sensor signals are eit...

Balakumar Sundaralingam, et al. ∙

research

∙ 09/27/2018

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Using synthetic data for training deep neural networks for robotic manip...

Jonathan Tremblay, et al. ∙

research

∙ 07/04/2018

Region Growing Curriculum Generation for Reinforcement Learning

Learning a policy capable of moving an agent between any two states in t...

Artem Molchanov, et al. ∙

research

∙ 05/18/2018

Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations

We present a system to infer and execute a human-readable program from a...

Jonathan Tremblay, et al. ∙

research

∙ 04/18/2018

Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation

We present a new dataset, called Falling Things (FAT), for advancing the...

Jonathan Tremblay, et al. ∙

research

∙ 04/18/2018

Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization

We present a system for training deep neural networks for object detecti...

Jonathan Tremblay, et al. ∙

research

∙ 03/26/2018

On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach

We revisit the problem of visual depth estimation in the context of auto...

Nikolai Smolyanskiy, et al. ∙

research

∙ 01/26/2018

Efficient Hierarchical Graph-Based Segmentation of RGBD Videos

We present an efficient and scalable algorithm for segmenting 3D RGBD po...

Steven Hickson, et al. ∙

research

∙ 08/02/2017

An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using RGBD Data

We propose an algorithm that uses energy mini- mization to estimate the ...

Bryan Willimon, et al. ∙

Stan Birchfield

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