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Multi-view Fusion for Multi-level Robotic Scene Understanding


Mar 25, 2021
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

* Submitted to ICRA 2021. Video is at https://youtu.be/FuqMxuODGlw 

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Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs


Dec 14, 2020
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu


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Fast Uncertainty Quantification for Deep Object Pose Estimation


Nov 16, 2020
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu

* Video and code are available at https://sites.google.com/view/fastuq 

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Joint Space Control via Deep Reinforcement Learning


Nov 12, 2020
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield

* Submitted to ICRA 2021 

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Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera


Aug 26, 2020
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield

* IROS 2020. Video at https://youtu.be/E0J91llX-ys 

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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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PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly Randomized Synthetic Data


May 02, 2020
Zheng Tang, Milind Naphade, Stan Birchfield, Jonathan Tremblay, William Hodge, Ratnesh Kumar, Shuo Wang, Xiaodong Yang

* Accepted by ICCV 2019 

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Camera-to-Robot Pose Estimation from a Single Image


Dec 05, 2019
Timothy E. Lee, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, Stan Birchfield

* submitted to ICRA 2020 

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Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies


Nov 24, 2019
Visak Kumar, Tucker Hermans, Dieter Fox, Stan Birchfield, Jonathan Tremblay


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Directional Semantic Grasping of Real-World Objects: From Simulation to Reality


Sep 04, 2019
Shariq Iqbal, Jonathan Tremblay, Thang To, Jia Cheng, Erik Leitch, Andy Campbell, Kirby Leung, Duncan McKay, Stan Birchfield

* Video is at https://youtu.be/bjJLtNdVj9w 

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Few-Shot Viewpoint Estimation


May 13, 2019
Hung-Yu Tseng, Shalini De Mello, Jonathan Tremblay, Sifei Liu, Stan Birchfield, Ming-Hsuan Yang, Jan Kautz


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Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects


Sep 27, 2018
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield

* Conference on Robot Learning (CoRL) 2018 

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Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation


Jul 10, 2018
Jonathan Tremblay, Thang To, Stan Birchfield

* CVPR 2018 Workshop on Real World Challenges and New Benchmarks for Deep Learning in Robotic Vision 

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Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations


Jul 10, 2018
Jonathan Tremblay, Thang To, Artem Molchanov, Stephen Tyree, Jan Kautz, Stan Birchfield

* IEEE International Conference on Robotics and Automation (ICRA) 2018. For associated video, see https://youtu.be/B7ZT5oSnRys 

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Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization


Apr 23, 2018
Jonathan Tremblay, Aayush Prakash, David Acuna, Mark Brophy, Varun Jampani, Cem Anil, Thang To, Eric Cameracci, Shaad Boochoon, Stan Birchfield

* CVPR 2018 Workshop on Autonomous Driving 

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