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LASER: Learning a Latent Action Space for Efficient Reinforcement Learning


Mar 30, 2021
Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg

* Accepted as a conference paper at ICRA 2021. 7 pages, 8 figures 

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Learning Multi-Arm Manipulation Through Collaborative Teleoperation


Dec 12, 2020
Albert Tung, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese

* First two authors contributed equally 

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Human-in-the-Loop Imitation Learning using Remote Teleoperation


Dec 12, 2020
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese


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iGibson, a Simulation Environment for Interactive Tasks in Large Realistic Scenes


Dec 08, 2020
Bokui Shen, Fei Xia, Chengshu Li, Roberto Martín-Martín, Linxi Fan, Guanzhi Wang, Shyamal Buch, Claudia D'Arpino, Sanjana Srivastava, Lyne P. Tchapmi, Micael E. Tchapmi, Kent Vainio, Li Fei-Fei, Silvio Savarese


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Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search


Dec 07, 2020
Andrey Kurenkov, Roberto Martín-Martín, Jeff Ichnowski, Ken Goldberg, Silvio Savarese


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Deep Affordance Foresight: Planning Through What Can Be Done in the Future


Nov 17, 2020
Danfei Xu, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Silvio Savarese, Li Fei-Fei


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Multimodal Sensor Fusion with Differentiable Filters


Oct 25, 2020
Michelle A. Lee, Brent Yi, Roberto Martín-Martín, Silvio Savarese, Jeannette Bohg

* Published in IROS 2020. Updated sponsors 

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Robot Navigation in Constrained Pedestrian Environments using Reinforcement Learning


Oct 16, 2020
Claudia Pérez-D'Arpino, Can Liu, Patrick Goebel, Roberto Martín-Martín, Silvio Savarese


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robosuite: A Modular Simulation Framework and Benchmark for Robot Learning


Sep 25, 2020
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín

* For more information, please visit https://robosuite.ai 

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ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation


Aug 18, 2020
Fei Xia, Chengshu Li, Roberto Martín-Martín, Or Litany, Alexander Toshev, Silvio Savarese

* First two authors contributed equally. Access project website at http://svl.stanford.edu/projects/relmogen 

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Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter


Aug 13, 2020
Andrey Kurenkov, Joseph Taglic, Rohun Kulkarni, Marcus Dominguez-Kuhne, Animesh Garg, Roberto Martín-Martín, Silvio Savarese


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JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset


Mar 18, 2020
Abhijeet Shenoi, Mihir Patel, JunYoung Gwak, Patrick Goebel, Amir Sadeghian, Hamid Rezatofighi, Roberto Martín-Martín, Silvio Savarese

* 9 pages, 2 figures, 2 tables 

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Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations


Mar 13, 2020
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-Fei

* First two authors contributed equally 

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Leveraging Pretrained Image Classifiers for Language-Based Segmentation


Nov 03, 2019
David Golub, Roberto Martín-Martín, Ahmed El-Kishky, Silvio Savarese


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Interactive Gibson: A Benchmark for Interactive Navigation in Cluttered Environments


Oct 30, 2019
Fei Xia, William B. Shen, Chengshu Li, Priya Kasimbeg, Micael Tchapmi, Alexander Toshev, Roberto Martín-Martín, Silvio Savarese


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JRDB: A Dataset and Benchmark for Visual Perception for Navigation in Human Environments


Oct 25, 2019
Roberto Martín-Martín, Hamid Rezatofighi, Abhijeet Shenoi, Mihir Patel, JunYoung Gwak, Nathan Dass, Alan Federman, Patrick Goebel, Silvio Savarese


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6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints


Oct 23, 2019
Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, Yuke Zhu


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Regression Planning Networks


Sep 28, 2019
Danfei Xu, Roberto Martín-Martín, De-An Huang, Yuke Zhu, Silvio Savarese, Li Fei-Fei

* Accepted at NeurIPS 2019 

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Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks


Aug 02, 2019
Roberto Martín-Martín, Michelle A. Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, Animesh Garg

* IROS19 

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DANTE: Deep Affinity Network for Clustering Conversational Interactants


Jul 24, 2019
Mason Swofford, John Charles Peruzzi, Marynel Vázquez, Roberto Martín-Martín, Silvio Savarese

* 6 pages 

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Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks


Jul 17, 2019
Vineet Kosaraju, Amir Sadeghian, Roberto Martín-Martín, Ian Reid, S. Hamid Rezatofighi, Silvio Savarese


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Deep Local Trajectory Replanning and Control for Robot Navigation


May 13, 2019
Ashwini Pokle, Roberto Martín-Martín, Patrick Goebel, Vincent Chow, Hans M. Ewald, Junwei Yang, Zhenkai Wang, Amir Sadeghian, Dorsa Sadigh, Silvio Savarese, Marynel Vázquez


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Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter


Mar 04, 2019
Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg

* To appear in IEEE International Conference on Robotics and Automation (ICRA), 2019. 9 pages with 4 figures 

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DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion


Jan 15, 2019
Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, Silvio Savarese


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The RBO Dataset of Articulated Objects and Interactions


Jun 17, 2018
Roberto Martín-Martín, Clemens Eppner, Oliver Brock

* 6 pages; Submitted to the International Journal of Robotics Research (Data Paper), Sage; Equal contribution by first two authors 

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