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Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions


Jun 29, 2022
Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox

* RSS 2022 Workshop on Implicit Representations for Robotic Manipulation 

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HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers


May 19, 2022
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox

* Accepted to ICRA 2022 

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Correcting Robot Plans with Natural Language Feedback


Apr 11, 2022
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox

* 10 pages, 13 figures 

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Model Predictive Control for Fluid Human-to-Robot Handovers


Mar 31, 2022
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox

* Accepted to ICRA 2022 

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DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects


Mar 21, 2022
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

* For associated web page, see \url{https://sites.google.com/nvidia.com/defgraspsim}. To be published in the IEEE Robotics and Automation Letters (RA-L) special issue on Robotic Handling of Deformable Objects, 2022. arXiv admin note: substantial text overlap with arXiv:2107.05778 

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Learning Perceptual Concepts by Bootstrapping from Human Queries


Nov 09, 2021
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox

* 7 pages, 7 figures 

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Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior


Sep 21, 2021
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff


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DefGraspSim: Simulation-based grasping of 3D deformable objects


Jul 12, 2021
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

* 11 pages, 19 figures. For associated website and code repository, see https://sites.google.com/nvidia.com/defgraspsim and https://github.com/NVlabs/deformable_object_grasping. Published in DO-Sim: Workshop on Deformable Object Simulation in Robotics at Robotics: Science and Systems (RSS) 2021 

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Fast Joint Space Model-Predictive Control for Reactive Manipulation


Apr 28, 2021
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

* 12 pages 

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Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections


Mar 31, 2021
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox

* To be published in Proc. IEEE International Conference on Robotics and Automation (ICRA) 

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