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Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items



Laura Downs , Anthony Francis , Nate Koenig , Brandon Kinman , Ryan Hickman , Krista Reymann , Thomas B. McHugh , Vincent Vanhoucke

* 8 pages, 5 figures, 4 tables; to appear in the conference proceedings of ICRA 2022 

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Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research



Ryan Hoque , Kaushik Shivakumar , Shrey Aeron , Gabriel Deza , Aditya Ganapathi , Adrian Wong , Johnny Lee , Andy Zeng , Vincent Vanhoucke , Ken Goldberg


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Do As I Can, Not As I Say: Grounding Language in Robotic Affordances



Michael Ahn , Anthony Brohan , Noah Brown , Yevgen Chebotar , Omar Cortes , Byron David , Chelsea Finn , Keerthana Gopalakrishnan , Karol Hausman , Alex Herzog , Daniel Ho , Jasmine Hsu , Julian Ibarz , Brian Ichter , Alex Irpan , Eric Jang , Rosario Jauregui Ruano , Kyle Jeffrey , Sally Jesmonth , Nikhil J Joshi , Ryan Julian , Dmitry Kalashnikov , Yuheng Kuang , Kuang-Huei Lee , Sergey Levine , Yao Lu , Linda Luu , Carolina Parada , Peter Pastor , Jornell Quiambao , Kanishka Rao , Jarek Rettinghouse , Diego Reyes , Pierre Sermanet , Nicolas Sievers , Clayton Tan , Alexander Toshev , Vincent Vanhoucke , Fei Xia , Ted Xiao , Peng Xu , Sichun Xu , Mengyuan Yan

* See website at https://say-can.github.io/ 

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Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language



Andy Zeng , Adrian Wong , Stefan Welker , Krzysztof Choromanski , Federico Tombari , Aveek Purohit , Michael Ryoo , Vikas Sindhwani , Johnny Lee , Vincent Vanhoucke , Pete Florence

* https://socraticmodels.github.io/ 

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Mechanical Search on Shelves using Lateral Access X-RAY



Huang Huang , Marcus Dominguez-Kuhne , Jeffrey Ichnowski , Vishal Satish , Michael Danielczuk , Kate Sanders , Andrew Lee , Anelia Angelova , Vincent Vanhoucke , Ken Goldberg

* Huang Huang and Marcus Dominguez-Kuhne contributed equally 

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Differentiable Mapping Networks: Learning Structured Map Representations for Sparse Visual Localization



Peter Karkus , Anelia Angelova , Vincent Vanhoucke , Rico Jonschkowski

* ICRA 2020 

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X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions



Michael Danielczuk , Anelia Angelova , Vincent Vanhoucke , Ken Goldberg

* 8 pages, 6 figures 

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Policies Modulating Trajectory Generators



Atil Iscen , Ken Caluwaerts , Jie Tan , Tingnan Zhang , Erwin Coumans , Vikas Sindhwani , Vincent Vanhoucke

* In Proceedings of The 2nd Conference on Robot Learning, volume 87 of Proceedings of Machine Learning Research, pages 916-926. PMLR, 29-31 Oct 2018 

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QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation



Dmitry Kalashnikov , Alex Irpan , Peter Pastor , Julian Ibarz , Alexander Herzog , Eric Jang , Deirdre Quillen , Ethan Holly , Mrinal Kalakrishnan , Vincent Vanhoucke , Sergey Levine

* CoRL 2018 camera ready. 23 pages, 14 figures 

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Grasp2Vec: Learning Object Representations from Self-Supervised Grasping



Eric Jang , Coline Devin , Vincent Vanhoucke , Sergey Levine

* Proceedings of The 2nd Conference on Robot Learning, in PMLR 87:99-112 (2018) 
* CoRL 2018. Eric Jang and Coline Devin contributed equally to this work 

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