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Theseus: A Library for Differentiable Nonlinear Optimization


Jul 19, 2022
Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam


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TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs


Jul 11, 2022
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti

* PMLR 164 (2022) 46-58 
* Video: https://www.youtube.com/watch?v=mM4v5hP4LdA&ab_channel=KrishnaMurthy . Project page: https://taskography.github.io/ . 18 pages, 7 figures. In proceedings of Conference on Robot Learning (CoRL) 2021. The first two authors contributed equally 

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iSDF: Real-Time Neural Signed Distance Fields for Robot Perception


Apr 05, 2022
Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam

* Project page: https://joeaortiz.github.io/iSDF/ 

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PatchGraph: In-hand tactile tracking with learned surface normals


Nov 15, 2021
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

* 7 pages, 8 figures 

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A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation


Nov 09, 2021
Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

* Presented at CORL 2021 

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No RL, No Simulation: Learning to Navigate without Navigating


Oct 22, 2021
Meera Hahn, Devendra Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta


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LEO: Learning Energy-based Models in Graph Optimization


Aug 04, 2021
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess


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Habitat 2.0: Training Home Assistants to Rearrange their Habitat


Jun 28, 2021
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra


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Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation


May 28, 2021
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam

* 20 pages, including appendix 

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