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StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects


Nov 08, 2022
Weiyu Liu, Tucker Hermans, Sonia Chernova, Chris Paxton

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StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects


Oct 19, 2021
Weiyu Liu, Chris Paxton, Tucker Hermans, Dieter Fox

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Towards Robust One-shot Task Execution using Knowledge Graph Embeddings


May 10, 2021
Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova

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* 7 pages, 3 figures. Accepted for publication at IEEE ICRA 2021 

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Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping


Nov 13, 2020
Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta

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* Accepted to Conference on Robot Learning (CoRL) 2020 

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Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks


Jan 28, 2020
Siddhartha Banerjee, Angel Daruna, David Kent, Weiyu Liu, Jonathan Balloch, Abhinav Jain, Akshay Krishnan, Muhammad Asif Rana, Harish Ravichandar, Binit Shah, Nithin Shrivatsav, Sonia Chernova

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* Published and presented at International Symposium on Robotics Research (ISRR), 2019 in Hanoi, Vietnam 

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CAGE: Context-Aware Grasping Engine


Sep 24, 2019
Weiyu Liu, Angel Daruna, Sonia Chernova

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Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings


May 29, 2019
Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova

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* 7 pages, 2 figures, 2 tables 

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Path Ranking with Attention to Type Hierarchies


May 26, 2019
Weiyu Liu, Angel Daruna, Zsolt Kira, Sonia Chernova

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RoboCSE: Robot Common Sense Embedding


Mar 01, 2019
Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova

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* 7 pages, 7 figures, accepted for publication in 2019 IEEE ICRA proceedings 

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