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06/29/2023
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-popu...
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05/23/2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer
In this paper, we propose a method to create visuomotor mobile manipulat...
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05/04/2023
Causal Policy Gradient for Whole-Body Mobile Manipulation
Developing the next generation of household robot helpers requires combi...
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03/31/2023
Procedure-Aware Pretraining for Instructional Video Understanding
Our goal is to learn a video representation that is useful for downstrea...
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01/06/2023
Model-Agnostic Hierarchical Attention for 3D Object Detection
Transformers as versatile network architectures have recently seen great...
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12/09/2021
Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
In mobile manipulation (MM), robots can both navigate within and interac...
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08/06/2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities i...
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08/06/2021
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
Recent research in embodied AI has been boosted by the use of simulation...
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05/18/2021
Differentiable Factor Graph Optimization for Learning Smoothers
A recent line of work has shown that end-to-end optimization of Bayesian...
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03/29/2021
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
The process of learning a manipulation task depends strongly on the acti...
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03/06/2021
Greedy Hierarchical Variational Autoencoders for Large-Scale Video Prediction
A video prediction model that generalizes to diverse scenes would enable...
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12/12/2020
Learning Multi-Arm Manipulation Through Collaborative Teleoperation
Imitation Learning (IL) is a powerful paradigm to teach robots to perfor...
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12/12/2020
Human-in-the-Loop Imitation Learning using Remote Teleoperation
Imitation Learning is a promising paradigm for learning complex robot ma...
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12/07/2020
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search
Searching for objects in indoor organized environments such as homes or ...
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12/05/2020
iGibson, a Simulation Environment for Interactive Tasks in Large Realistic Scenes
We present iGibson, a novel simulation environment to develop robotic so...
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11/17/2020
Deep Affordance Foresight: Planning Through What Can Be Done in the Future
Planning in realistic environments requires searching in large planning ...
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10/25/2020
Multimodal Sensor Fusion with Differentiable Filters
Leveraging multimodal information with recursive Bayesian filters improv...
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10/16/2020
Robot Navigation in Constrained Pedestrian Environments using Reinforcement Learning
Navigating fluently around pedestrians is a necessary capability for mob...
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09/25/2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
robosuite is a simulation framework for robot learning powered by the Mu...
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08/18/2020
ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation
Many Reinforcement Learning (RL) approaches use joint control signals (p...
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08/13/2020
Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter
When searching for objects in cluttered environments, it is often necess...
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03/20/2020
Probabilistic Visual Navigation with Bidirectional Image Prediction
Humans can robustly follow a visual trajectory defined by a sequence of ...
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03/13/2020
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
Imitation learning is an effective and safe technique to train robot pol...
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02/19/2020
JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset
An autonomous navigating agent needs to perceive and track the motion of...
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11/03/2019
Leveraging Pretrained Image Classifiers for Language-Based Segmentation
Current semantic segmentation models cannot easily generalize to new obj...
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10/30/2019
Interactive Gibson: A Benchmark for Interactive Navigation in Cluttered Environments
We present Interactive Gibson, the first comprehensive benchmark for tra...
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10/25/2019
JRDB: A Dataset and Benchmark for Visual Perception for Navigation in Human Environments
We present JRDB, a novel dataset collected from our social mobile manipu...
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10/24/2019
HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators
Most common navigation tasks in human environments require auxiliary arm...
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09/28/2019
Regression Planning Networks
Recent learning-to-plan methods have shown promising results on planning...
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09/09/2019
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
The exploration mechanism used by a Deep Reinforcement Learning (RL) age...
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07/24/2019
DANTE: Deep Affinity Network for Clustering Conversational Interactants
We propose a data-driven approach to visually detect conversational grou...
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07/04/2019
Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks
Predicting the future trajectories of multiple interacting agents in a s...
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06/20/2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks
Reinforcement Learning (RL) of contact-rich manipulation tasks has yield...
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05/13/2019
Deep Local Trajectory Replanning and Control for Robot Navigation
We present a navigation system that combines ideas from hierarchical pla...
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03/07/2019
Deep Visual MPC-Policy Learning for Navigation
Humans can routinely follow a trajectory defined by a list of images/lan...
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03/04/2019
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter
When operating in unstructured environments such as warehouses, homes, a...
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01/15/2019
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
A key technical challenge in performing 6D object pose estimation from R...
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06/17/2018