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Implicit Behavioral Cloning

Sep 01, 2021
Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson

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Transporter Networks: Rearranging the Visual World for Robotic Manipulation

Oct 27, 2020
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee

* Project webpage: 

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Spatial Action Maps for Mobile Manipulation

Apr 20, 2020
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas Funkhouser

* Project webpage: 

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Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations

Dec 09, 2019
Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser

* Project Webpage 

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Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly

Oct 30, 2019
Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song

* Code, videos, and supplemental material are available at 

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ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation

Oct 14, 2019
Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

* Project Website:, 13 pages, 13 figures, submitted to ICRA 

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TossingBot: Learning to Throw Arbitrary Objects with Residual Physics

Mar 27, 2019
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* Summary Video: Project webpage: 

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Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning

Sep 30, 2018
Andy Zeng, Shuran Song, Stefan Welker, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser

* To appear at the International Conference On Intelligent Robots and Systems (IROS) 2018. Project webpage: Summary video: 

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