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07/10/2023
Large Language Models as General Pattern Machines
We observe that pre-trained large language models (LLMs) are capable of ...
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07/01/2023
General Part Assembly Planning
Most successes in autonomous robotic assembly have been restricted to si...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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06/08/2023
Modular Visual Question Answering via Code Generation
We present a framework that formulates visual question answering as modu...
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05/09/2023
TidyBot: Personalized Robot Assistance with Large Language Models
For a robot to personalize physical assistance effectively, it must lear...
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03/13/2023
Audio Visual Language Maps for Robot Navigation
While interacting in the world is a multi-sensory experience, many robot...
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03/06/2023
PaLM-E: An Embodied Multimodal Language Model
Large language models excel at a wide range of complex tasks. However, e...
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03/01/2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control
Recent progress in large language models (LLMs) has demonstrated the abi...
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12/12/2022
MIRA: Mental Imagery for Robotic Affordances
Humans form mental images of 3D scenes to support counterfactual imagina...
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10/11/2022
Visual Language Maps for Robot Navigation
Grounding language to the visual observations of a navigating agent can ...
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10/07/2022
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Deformable objects manipulation can benefit from representations that se...
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09/16/2022
Code as Policies: Language Model Programs for Embodied Control
Large language models (LLMs) trained on code completion have been shown ...
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07/12/2022
Inner Monologue: Embodied Reasoning through Planning with Language Models
Recent works have shown how the reasoning capabilities of Large Language...
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04/21/2022
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Autonomous fabric manipulation is a longstanding challenge in robotics, ...
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04/05/2022
Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as ...
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04/01/2022
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language
Large foundation models can exhibit unique capabilities depending on the...
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03/16/2022
Multiscale Sensor Fusion and Continuous Control with Neural CDEs
Though robot learning is often formulated in terms of discrete-time Mark...
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03/03/2022
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning
Action representation is an important yet often overlooked aspect in end...
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02/02/2022
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
Deformable object manipulation requires computationally efficient repres...
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10/08/2021
Hybrid Random Features
We propose a new class of random feature methods for linearizing softmax...
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09/15/2021
Multi-Task Learning with Sequence-Conditioned Transporter Networks
Enabling robots to solve multiple manipulation tasks has a wide range of...
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09/01/2021
Implicit Behavioral Cloning
We find that across a wide range of robot policy learning scenarios, tre...
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07/01/2021
Learning to See before Learning to Act: Visual Pre-training for Manipulation
Does having visual priors (e.g. the ability to detect objects) facilitat...
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06/07/2021
XIRL: Cross-embodiment Inverse Reinforcement Learning
We investigate the visual cross-embodiment imitation setting, in which a...
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03/23/2021
Spatial Intention Maps for Multi-Agent Mobile Manipulation
The ability to communicate intention enables decentralized multi-agent r...
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12/06/2020
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Rearranging and manipulating deformable objects such as cables, fabrics,...
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10/27/2020
Transporter Networks: Rearranging the Visual World for Robotic Manipulation
Robotic manipulation can be formulated as inducing a sequence of spatial...
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04/20/2020
Spatial Action Maps for Mobile Manipulation
This paper proposes a new action representation for learning to perform ...
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12/09/2019
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Intelligent manipulation benefits from the capacity to flexibly control ...
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10/30/2019
Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly
Is it possible to learn policies for robotic assembly that can generaliz...
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10/06/2019
ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation
Transparent objects are a common part of everyday life, yet they possess...
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06/10/2019
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
We study the problem of learning physical object representations for rob...
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03/27/2019
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics
We investigate whether a robot arm can learn to pick and throw arbitrary...
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03/27/2018
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Skilled robotic manipulation benefits from complex synergies between non...
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12/12/2017
Im2Pano3D: Extrapolating 360 Structure and Semantics Beyond the Field of View
We present Im2Pano3D, a convolutional neural network that generates a de...
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10/03/2017
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
This paper presents a robotic pick-and-place system that is capable of g...
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09/18/2017
Matterport3D: Learning from RGB-D Data in Indoor Environments
Access to large, diverse RGB-D datasets is critical for training RGB-D s...
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11/28/2016
Semantic Scene Completion from a Single Depth Image
This paper focuses on semantic scene completion, a task for producing a ...
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09/29/2016
Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge
Robot warehouse automation has attracted significant interest in recent ...
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03/27/2016