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Continuous-Time Fitted Value Iteration for Robust Policies


Oct 05, 2021
Michael Lutter, Boris Belousov, Shie Mannor, Dieter Fox, Animesh Garg, Jan Peters

* arXiv admin note: text overlap with arXiv:2105.12189 

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CLIPort: What and Where Pathways for Robotic Manipulation


Sep 24, 2021
Mohit Shridhar, Lucas Manuelli, Dieter Fox

* CoRL 2021. Project Website: https://cliport.github.io/ 

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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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SORNet: Spatial Object-Centric Representations for Sequential Manipulation


Sep 08, 2021
Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox


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Predicting Stable Configurations for Semantic Placement of Novel Objects


Aug 26, 2021
Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox


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LanguageRefer: Spatial-Language Model for 3D Visual Grounding


Jul 22, 2021
Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox

* 11 pages, 3 figures 

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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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A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution


Jul 12, 2021
Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi

* Submitted to CoRL 2021 

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BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym


Jul 09, 2021
Rika Antonova, Fabio Ramos, Rafael Possas, Dieter Fox


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Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans


Jul 04, 2021
Lirui Wang, Yu Xiang, Dieter Fox


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RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks


Jun 29, 2021
Christopher Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox


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NeRP: Neural Rearrangement Planning for Unknown Objects


Jun 04, 2021
Ahmed H. Qureshi, Arsalan Mousavian, Chris Paxton, Michael C. Yip, Dieter Fox

* Please refer to our supplementary video: https://youtu.be/CJb1IzH94eo 

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DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting


May 25, 2021
Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos

* Accepted at Robotics: Science and Systems 2021 

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Robust Value Iteration for Continuous Control Tasks


May 25, 2021
Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, Animesh Garg

* Accepted Paper at Robotics: Science and Systems 

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Value Iteration in Continuous Actions, States and Time


May 10, 2021
Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, Animesh Garg

* Accepted at International Conference on Machine Learning (ICML) 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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DexYCB: A Benchmark for Capturing Hand Grasping of Objects


Apr 09, 2021
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox

* Accepted to CVPR 2021 

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RGB-D Local Implicit Function for Depth Completion of Transparent Objects


Apr 01, 2021
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox

* CVPR 2021 

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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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Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes


Mar 25, 2021
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, Dieter Fox

* ICRA 2021. Video of the real world experiments and code are available at https://research.nvidia.com/publication/2021-03_Contact-GraspNet%3A--Efficient 

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Learning Composable Behavior Embeddings for Long-horizon Visual Navigation


Feb 19, 2021
Xiangyun Meng, Yu Xiang, Dieter Fox


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Interpreting and Predicting Tactile Signals for the SynTouch BioTac


Jan 14, 2021
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

* Submitted to International Journal of Robotics Research (IJRR) 

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Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments


Dec 29, 2020
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox


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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees


Dec 24, 2020
M. Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan Ratliff

* 7 pages 

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Stein Variational Model Predictive Control


Dec 09, 2020
Alexander Lambert, Adam Fishman, Dieter Fox, Byron Boots, Fabio Ramos

* Accepted to Conference on Robot Learning (CoRL) 2020 

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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop


Dec 07, 2020
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

* Summary of the "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" held in conjunction with "Robotics: Science and System 2020". Website: https://sim2real.github.io/ 

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Object Rearrangement Using Learned Implicit Collision Functions


Nov 21, 2020
Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox

* Michael Danielczuk and Arsalan Mousavian contributed equally 

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ACRONYM: A Large-Scale Grasp Dataset Based on Simulation


Nov 18, 2020
Clemens Eppner, Arsalan Mousavian, Dieter Fox


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