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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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Displacement-Invariant Cost Computation for Efficient Stereo Matching

Dec 01, 2020
Yiran Zhong, Charles Loop, Wonmin Byeon, Stan Birchfield, Yuchao Dai, Kaihao Zhang, Alexey Kamenev, Thomas Breuel, Hongdong Li, Jan Kautz

* 8 pages 

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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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Improving Deep Stereo Network Generalization with Geometric Priors

Aug 25, 2020
Jialiang Wang, Varun Jampani, Deqing Sun, Charles Loop, Stan Birchfield, Jan Kautz


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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Jul 25, 2020
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* arXiv admin note: substantial text overlap with arXiv:1811.07049 

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MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views

Jun 09, 2020
Ke Chen, Ryan Oldja, Nikolai Smolyanskiy, Stan Birchfield, Alexander Popov, David Wehr, Ibrahim Eden, Joachim Pehserl

* IROS2020 conference submission, for accompanying video, see https://youtu.be/2ck5_sToayc 

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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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DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

Oct 14, 2019
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

* 17 pages, first version of DexPilot 

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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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CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identification

Apr 05, 2019
Zheng Tang, Milind Naphade, Ming-Yu Liu, Xiaodong Yang, Stan Birchfield, Shuo Wang, Ratnesh Kumar, David Anastasiu, Jenq-Neng Hwang

* Accepted for oral presentation at CVPR 2019 with review ratings of 2 strong accepts and 1 accept (work done during an internship at NVIDIA) 

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RMPflow: A Computational Graph for Automatic Motion Policy Generation

Apr 05, 2019
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* WAFR 2018 

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Robust Learning of Tactile Force Estimation through Robot Interaction

Mar 05, 2019
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox

* accepted to ICRA 2019 (camera ready version) 

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Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data

Oct 23, 2018
Aayush Prakash, Shaad Boochoon, Mark Brophy, David Acuna, Eric Cameracci, Gavriel State, Omer Shapira, Stan Birchfield

* submitted to ICRA 2019; for video, see https://youtu.be/1WdjWJYx9AY 

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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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Riemannian Motion Policies

Jul 25, 2018
Nathan D. Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, Dieter Fox


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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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Region Growing Curriculum Generation for Reinforcement Learning

Jul 04, 2018
Artem Molchanov, Karol Hausman, Stan Birchfield, Gaurav Sukhatme


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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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On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach

Apr 20, 2018
Nikolai Smolyanskiy, Alexey Kamenev, Stan Birchfield

* CVPR 2018 Workshop on Autonomous Driving 

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Efficient Hierarchical Graph-Based Segmentation of RGBD Videos

Jan 26, 2018
Steven Hickson, Stan Birchfield, Irfan Essa, Henrik Christensen

* CVPR 2014 

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An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using RGBD Data

Aug 02, 2017
Bryan Willimon, Steven Hickson, Ian Walker, Stan Birchfield


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Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness

Jul 22, 2017
Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, Stan Birchfield

* 7 pages, 9 figures, IROS2017 conference submission 1657, accompanying videos are posted on YouTube at: https://www.youtube.com/watch?v=H7Ym3DMSGms , https://www.youtube.com/watch?v=USYlt9t0lZY 

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