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Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation


Sep 17, 2021
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer


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Carnegie Mellon Team Tartan: Mission-level Robustness with Rapidly Deployed Autonomous Aerial Vehicles in the MBZIRC 2020


Jul 03, 2021
Anish Bhattacharya, Akshit Gandhi, Lukas Merkle, Rohan Tiwari, Karun Warrior, Stanley Winata, Andrew Saba, Kevin Zhang, Oliver Kroemer, Sebastian Scherer

* 28 pages, 26 figures. To appear in Field Robotics, Special Issues on MBZIRC 2020 

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Adaptive Sampling: Algorithmic vs. Human Waypoint Selection


Apr 24, 2021
Stephanie Kemna, Sara Kangaslahti, Oliver Kroemer, Gaurav S. Sukhatme

* 12 pages, 7 figures, not yet published 

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Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies


Mar 31, 2021
Timothy E. Lee, Jialiang Zhao, Amrita S. Sawhney, Siddharth Girdhar, Oliver Kroemer

* Accepted to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). Project page: https://sites.google.com/view/crest-causal-struct-xfer-manip 

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Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models


Mar 26, 2021
Saumya Saxena, Alex LaGrassa, Oliver Kroemer


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Generalizing Object-Centric Task-Axes Controllers using Keypoints


Mar 18, 2021
Mohit Sharma, Oliver Kroemer

* International Conference on Robotics and Automation (ICRA'21). For results see https://sites.google.com/view/robotic-manip-task-axes-ctrlrs 

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Playing with Food: Learning Food Item Representations through Interactive Exploration


Jan 06, 2021
Amrita Sawhney, Steven Lee, Kevin Zhang, Manuela Veloso, Oliver Kroemer

* 12 pages, 8 figures, 2 tables, to be published in Proceedings of International Symposium on Experimental Robotics (ISER) 2020, project website located here: https://sites.google.com/view/playing-with-food/home 

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Relational Learning for Skill Preconditions


Dec 03, 2020
Mohit Sharma, Oliver Kroemer

* CoRL'20 

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Visual Identification of Articulated Object Parts


Dec 01, 2020
Vicky Zeng, Timothy E. Lee, Jacky Liang, Oliver Kroemer


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Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation


Nov 13, 2020
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer

* Accepted as Plenary Talk at CoRL'20. First two authors contributed equally. For results see https://sites.google.com/view/compositional-object-control/ 

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Contact Localization for Robot Arms in Motion without Torque Sensing


Nov 05, 2020
Jacky Liang, Oliver Kroemer


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Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps


Nov 04, 2020
Jialiang Zhao, Daniel Troniak, Oliver Kroemer

* Submitted and accepted to 4th Conference on Robot Learning (CoRL2020) 

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A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy


Nov 04, 2020
Kevin Zhang, Mohit Sharma, Jacky Liang, Oliver Kroemer

* 7 pages, 4 figures 

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Learning Skills to Patch Plans Based on Inaccurate Models


Sep 29, 2020
Alex LaGrassa, Steven Lee, Oliver Kroemer

* 8 pages, 10 figures, accepted to Intelligent Robots and Systems (IROS) 2020 

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Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap


Jun 02, 2020
Jacky Liang, Saumya Saxena, Oliver Kroemer

* Published at Robotics: Science and Systems 2020 

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Multi-modal Transfer Learning for Grasping Transparent and Specular Objects


May 29, 2020
Thomas Weng, Amith Pallankize, Yimin Tang, Oliver Kroemer, David Held

* IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 5, NO. 3, JULY 2020. 3791-3798 
* RA-L with presentation at ICRA 2020 

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In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation


Mar 07, 2020
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox

* Accepted to the International Conference on Robotics and Automation (ICRA) 2020 

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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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Leveraging Multimodal Haptic Sensory Data for Robust Cutting


Sep 27, 2019
Kevin Zhang, Mohit Sharma, Manuela Veloso, Oliver Kroemer

* Accepted as conference paper at Humanoids'19 

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Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation


Sep 04, 2019
Jialiang Zhao, Jacky Liang, Oliver Kroemer

* Submitted and accepted to 12th Conference on Field and Service Robotics (FSR 2019) 

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Graph-Structured Visual Imitation


Jul 11, 2019
Maximilian Sieb, Zhou Xian, Audrey Huang, Oliver Kroemer, Katerina Fragkiadaki

* 8 pages, 3 figures, 1 table 

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A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms


Jul 11, 2019
Oliver Kroemer, Scott Niekum, George Konidaris


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Learning Semantic Embedding Spaces for Slicing Vegetables


Mar 30, 2019
Mohit Sharma, Kevin Zhang, Oliver Kroemer


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Learning Relevant Features for Manipulation Skills using Meta-Level Priors


May 14, 2016
Oliver Kroemer, Gaurav S. Sukhatme

* 13 pages, 13 figures 

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