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Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Dec 22, 2020
Xinlei Pan, Animesh Garg, Animashree Anandkumar, Yuke Zhu

* 8 pages, 5 figures, Project website: https://xinleipan.github.io/emergent_morphology/ 

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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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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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Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors

Dec 01, 2020
Michelle A. Lee, Matthew Tan, Yuke Zhu, Jeannette Bohg

* 8 pages, 5 figures 

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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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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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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion

Oct 05, 2020
Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Animashree Anandkumar, Yuke Zhu, Buck Babich, Animesh Garg

* supplementary video: https://youtu.be/JJOmFZKpYTo 

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Bongard-LOGO: A New Benchmark for Human-Level Concept Learning and Reasoning

Oct 02, 2020
Weili Nie, Zhiding Yu, Lei Mao, Ankit B. Patel, Yuke Zhu, Animashree Anandkumar

* 21 pages, NeurIPS 2020 

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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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OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation

Aug 17, 2020
Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg

* UAI 2020 

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Spherical Feature Transform for Deep Metric Learning

Aug 04, 2020
Yuke Zhu, Yan Bai, Yichen Wei

* ECCV2020 

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Adaptive Procedural Task Generation for Hard-Exploration Problems

Jul 01, 2020
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei

* 16 pages, 11 figures 

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Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity

Nov 11, 2019
Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei

* Published at IROS 2019 

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KETO: Learning Keypoint Representations for Tool Manipulation

Oct 30, 2019
Zengyi Qin, Kuan Fang, Yuke Zhu, Li Fei-Fei, Silvio Savarese


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Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation

Oct 29, 2019
Kuan Fang, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei

* CoRL 2019 

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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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SURREAL-System: Fully-Integrated Stack for Distributed Deep Reinforcement Learning

Oct 11, 2019
Linxi Fan, Yuke Zhu, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei

* Technical report of the SURREAL system. See more details at https://surreal.stanford.edu 

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Causal Induction from Visual Observations for Goal Directed Tasks

Oct 03, 2019
Suraj Nair, Yuke Zhu, Silvio Savarese, Li Fei-Fei

* 13 pages, 6 figures 

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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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Dual Sequential Monte Carlo: Tunneling Filtering and Planning in Continuous POMDPs

Sep 28, 2019
Yunbo Wang, Bo Liu, Jiajun Wu, Yuke Zhu, Simon S. Du, Li Fei-Fei, Joshua B. Tenenbaum


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Situational Fusion of Visual Representation for Visual Navigation

Aug 24, 2019
William B. Shen, Danfei Xu, Yuke Zhu, Leonidas J. Guibas, Li Fei-Fei, Silvio Savarese


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Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning

Aug 16, 2019
De-An Huang, Danfei Xu, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei, Juan Carlos Niebles

* IROS 2019 

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Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks

Jul 28, 2019
Michelle A. Lee, Yuke Zhu, Peter Zachares, Matthew Tan, Krishnan Srinivasan, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg

* arXiv admin note: substantial text overlap with arXiv:1810.10191 

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Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks

Mar 08, 2019
Michelle A. Lee, Yuke Zhu, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg

* ICRA 2019 

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Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration

Mar 06, 2019
De-An Huang, Suraj Nair, Danfei Xu, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, Juan Carlos Niebles

* CVPR 2019 

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