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Hybrid Random Features


Oct 13, 2021
Krzysztof Choromanski, Haoxian Chen, Han Lin, Yuanzhe Ma, Arijit Sehanobish, Deepali Jain, Michael S Ryoo, Jake Varley, Andy Zeng, Valerii Likhosherstov, Dmitry Kalashnikov, Vikas Sindhwani, Adrian Weller


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Multi-Task Learning with Sequence-Conditioned Transporter Networks


Sep 15, 2021
Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire Tomlin, Stefan Schaal, Aleksandra Faust


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Implicit Behavioral Cloning


Sep 01, 2021
Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson


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Learning to See before Learning to Act: Visual Pre-training for Manipulation


Jul 01, 2021
Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin

* Accepted to ICRA 2020. Porject page: http://yenchenlin.me/vision2action/ 

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XIRL: Cross-embodiment Inverse Reinforcement Learning


Jun 07, 2021
Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi


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Spatial Intention Maps for Multi-Agent Mobile Manipulation


Mar 23, 2021
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser

* To appear at IEEE International Conference on Robotics and Automation (ICRA), 2021. Project page: https://spatial-intention-maps.cs.princeton.edu/ 

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Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks


Dec 18, 2020
Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng

* See https://berkeleyautomation.github.io/bags/ for project website and code. v2 corrects some BibTeX entries 

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Transporter Networks: Rearranging the Visual World for Robotic Manipulation


Oct 27, 2020
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee

* Project webpage: https://transporternets.github.io 

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Spatial Action Maps for Mobile Manipulation


Apr 20, 2020
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser

* Project webpage: https://spatial-action-maps.cs.princeton.edu 

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Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations


Dec 09, 2019
Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser

* Project Webpage https://graspinwild.cs.columbia.edu/ 

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Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly


Oct 30, 2019
Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song

* Code, videos, and supplemental material are available at https://form2fit.github.io/ 

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ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation


Oct 14, 2019
Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

* Project Website: https://sites.google.com/view/cleargrasp, 13 pages, 13 figures, submitted to ICRA 

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DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions


Jun 11, 2019
Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua B. Tenenbaum, Shuran Song

* RSS 2019. Project page: http://zhenjiaxu.com/DensePhysNet 

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TossingBot: Learning to Throw Arbitrary Objects with Residual Physics


Mar 27, 2019
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* Summary Video: https://youtu.be/f5Zn2Up2RjQ Project webpage: https://tossingbot.cs.princeton.edu 

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Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning


Sep 30, 2018
Andy Zeng, Shuran Song, Stefan Welker, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* To appear at the International Conference On Intelligent Robots and Systems (IROS) 2018. Project webpage: http://vpg.cs.princeton.edu Summary video: https://youtu.be/-OkyX7ZlhiU 

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Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching


Apr 01, 2018
Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez

* To appear at the International Conference on Robotics and Automation (ICRA) 2018. Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIkI 

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Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View


Dec 12, 2017
Shuran Song, Andy Zeng, Angel X. Chang, Manolis Savva, Silvio Savarese, Thomas Funkhouser

* Video summary: https://youtu.be/Au3GmktK-So 

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Matterport3D: Learning from RGB-D Data in Indoor Environments


Sep 18, 2017
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Nießner, Manolis Savva, Shuran Song, Andy Zeng, Yinda Zhang


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Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge


May 07, 2017
Andy Zeng, Kuan-Ting Yu, Shuran Song, Daniel Suo, Ed Walker Jr., Alberto Rodriguez, Jianxiong Xiao

* To appear at the International Conference on Robotics and Automation (ICRA) 2017. Project webpage: http://apc.cs.princeton.edu/ 

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3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions


Apr 09, 2017
Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao, Thomas Funkhouser

* To appear at the Conference on Computer Vision and Pattern Recognition (CVPR) 2017. Project webpage: http://3dmatch.cs.princeton.edu 

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Semantic Scene Completion from a Single Depth Image


Nov 28, 2016
Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas Funkhouser


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