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IFOR: Iterative Flow Minimization for Robotic Object Rearrangement


Feb 01, 2022
Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox


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OSSID: Online Self-Supervised Instance Detection by (and for) Pose Estimation


Jan 18, 2022
Qiao Gu, Brian Okorn, David Held

* 10 pages, 6 figures. Accepted to RA-L 

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Self-Supervised Point Cloud Completion via Inpainting


Nov 21, 2021
Himangi Mittal, Brian Okorn, Arpit Jangid, David Held

* BMVC 2021 (Oral) 

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ZePHyR: Zero-shot Pose Hypothesis Rating


Apr 30, 2021
Brian Okorn, Qiao Gu, Martial Hebert, David Held

* 8 pages, 4 figures. Accepted to ICRA 2021. Brian and Qiao have equal contributions 

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ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning


Nov 13, 2020
Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin, Brian Okorn, David Held

* CoRL 2020. The first two authors contributed equally. Project video and code are available at https://sites.google.com/andrew.cmu.edu/roll 

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Robust Instance Tracking via Uncertainty Flow


Oct 09, 2020
Jianing Qian, Junyu Nan, Siddharth Ancha, Brian Okorn, David Held


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Cloth Region Segmentation for Robust Grasp Selection


Aug 13, 2020
Jianing Qian, Thomas Weng, Luxin Zhang, Brian Okorn, David Held

* Accepted at IROS 2020. The first two authors contributed equally and are listed in alphabetical order 

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Learning Orientation Distributions for Object Pose Estimation


Jul 02, 2020
Brian Okorn, Mengyun Xu, Martial Hebert, David Held


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Just Go with the Flow: Self-Supervised Scene Flow Estimation


Dec 01, 2019
Himangi Mittal, Brian Okorn, David Held


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