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Visually Grounded Task and Motion Planning for Mobile Manipulation



Xiaohan Zhang , Yifeng Zhu , Yan Ding , Yuke Zhu , Peter Stone , Shiqi Zhang

* To be published in IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022 

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Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation



Yifeng Zhu , Peter Stone , Yuke Zhu

* Submitted to RA-L (ICRA 2022) 

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Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations



Zhenyu Jiang , Yifeng Zhu , Maxwell Svetlik , Kuan Fang , Yuke Zhu


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Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs



Yifeng Zhu , Jonathan Tremblay , Stan Birchfield , Yuke Zhu


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Fast Uncertainty Quantification for Deep Object Pose Estimation



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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Human versus Machine Attention in Deep Reinforcement Learning Tasks



Ruohan Zhang , Bo Liu , Yifeng Zhu , Sihang Guo , Mary Hayhoe , Dana Ballard , Peter Stone


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