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Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions



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



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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Factory: Fast Contact for Robotic Assembly



Yashraj Narang , Kier Storey , Iretiayo Akinola , Miles Macklin , Philipp Reist , Lukasz Wawrzyniak , Yunrong Guo , Adam Moravanszky , Gavriel State , Michelle Lu , Ankur Handa , Dieter Fox

* Accepted to Robotics: Science and Systems (RSS) 2022 

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Correcting Robot Plans with Natural Language Feedback



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



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



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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DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting



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

* Extended version of our RSS 2021 paper arXiv:2105.12244 

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IFOR: Iterative Flow Minimization for Robotic Object Rearrangement



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


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iCaps: Iterative Category-level Object Pose and Shape Estimation



Xinke Deng , Junyi Geng , Timothy Bretl , Yu Xiang , Dieter Fox


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Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations



Henry M. Clever , Ankur Handa , Hammad Mazhar , Kevin Parker , Omer Shapira , Qian Wan , Yashraj Narang , Iretiayo Akinola , Maya Cakmak , Dieter Fox

* 9 pages, 4 figures, 1 table. NeurIPS 2021 Workshop on Robot Learning: Self-Supervised and Lifelong Learning, Virtual, Virtual 

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