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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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A User's Guide to Calibrating Robotics Simulators


Nov 17, 2020
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

* Accepted at Conference on Robot Learning 2020 

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Reactive Human-to-Robot Handovers of Arbitrary Objects


Nov 17, 2020
Wei Yang, Chris Paxton, Arsalan Mousavian, Yu-Wei Chao, Maya Cakmak, Dieter Fox


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Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery


Nov 17, 2020
Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox

* Under review 

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion


Nov 11, 2020
Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan Ratliff


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Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections


Nov 08, 2020
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha S. Srinivasa

* Preprint of a paper with the same title, accepted to the Conference on Robot Learning 2020 

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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics


Nov 05, 2020
Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos

* 25 pages, 35 figures, The Conference on Robot Learning (CoRL) 2020 

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Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds


Oct 02, 2020
Lirui Wang, Yu Xiang, Dieter Fox


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DeepGMR: Learning Latent Gaussian Mixture Models for Registration


Aug 20, 2020
Wentao Yuan, Ben Eckart, Kihwan Kim, Varun Jampani, Dieter Fox, Jan Kautz

* ECCV 2020 spotlight 

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Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation


Jul 30, 2020
Yu Xiang, Christopher Xie, Arsalan Mousavian, Dieter Fox


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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies


Jul 25, 2020
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* arXiv admin note: substantial text overlap with arXiv:1811.07049 

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Unseen Object Instance Segmentation for Robotic Environments


Jul 16, 2020
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox

* Extended version of arXiv:1907.13236 

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Causal Discovery in Physical Systems from Videos


Jul 02, 2020
Yunzhu Li, Antonio Torralba, Animashree Anandkumar, Dieter Fox, Animesh Garg

* Project page: https://yunzhuli.github.io/V-CDN/ 

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Interpreting and Predicting Tactile Signals via a Physics-Based and Data-Driven Framework


Jun 06, 2020
Yashraj S. Narang, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

* To be published in Proc. Robotics: Science and Systems (RSS) 

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Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control


Jun 04, 2020
Ian Abraham, Ankur Handa, Nathan Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox

* IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 ) 

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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems


May 27, 2020
Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

* 2nd Annual Conference on Learning for Dynamics and Control (L4DC) 2020 

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Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning


May 26, 2020
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox

* International Conference in Robotics and Automation 2020 

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