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06/20/2023
HomeRobot: Open-Vocabulary Mobile Manipulation
HomeRobot (noun): An affordable compliant robot that navigates homes and...
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05/06/2023
Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation
Manipulating objects without grasping them is an essential component of ...
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04/24/2023
USA-Net: Unified Semantic and Affordance Representations for Robot Memory
In order for robots to follow open-ended instructions like "go open the ...
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04/21/2023
Spatial-Language Attention Policies for Efficient Robot Learning
We investigate how to build and train spatial representations for robot ...
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04/03/2023
Navigating to Objects Specified by Images
Images are a convenient way to specify which particular object instance ...
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03/10/2023
Task and Motion Planning with Large Language Models for Object Rearrangement
Multi-object rearrangement is a crucial skill for service robots, and co...
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11/08/2022
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
Robots operating in human environments must be able to rearrange objects...
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10/11/2022
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory
We propose CLIP-Fields, an implicit scene model that can be trained with...
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05/19/2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
We introduce a new simulation benchmark "HandoverSim" for human-to-robot...
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04/11/2022
Correcting Robot Plans with Natural Language Feedback
When humans design cost or goal specifications for robots, they often pr...
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03/31/2022
Model Predictive Control for Fluid Human-to-Robot Handovers
Human-robot handover is a fundamental yet challenging task in human-robo...
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02/22/2022
Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Rearrangement tasks have been identified as a crucial challenge for inte...
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02/03/2022
Pre-Trained Language Models for Interactive Decision-Making
Language model (LM) pre-training has proven useful for a wide variety of...
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02/01/2022
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
Accurate object rearrangement from vision is a crucial problem for a wid...
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11/09/2021
Optimizing robot planning domains to reduce search time for long-horizon planning
We have recently introduced a system that automatically generates roboti...
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11/09/2021
Learning Perceptual Concepts by Bootstrapping from Human Queries
Robots need to be able to learn concepts from their users in order to ad...
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10/19/2021
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Geometric organization of objects into semantically meaningful arrangeme...
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09/08/2021
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Sequential manipulation tasks require a robot to perceive the state of a...
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08/26/2021
Predicting Stable Configurations for Semantic Placement of Novel Objects
Human environments contain numerous objects configured in a variety of a...
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07/26/2021
Language Grounding with 3D Objects
Seemingly simple natural language requests to a robot are generally unde...
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07/12/2021
A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
Natural language provides an accessible and expressive interface to spec...
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06/02/2021
NeRP: Neural Rearrangement Planning for Unknown Objects
Robots will be expected to manipulate a wide variety of objects in compl...
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05/28/2021
Automated Generation of Robotic Planning Domains from Observations
Automated planning enables robots to find plans to achieve complex, long...
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12/29/2020
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments
In many applications, including logistics and manufacturing, robot manip...
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11/17/2020
Reactive Human-to-Robot Handovers of Arbitrary Objects
Human-robot object handovers have been an actively studied area of robot...
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11/17/2020
Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery
Zero-shot execution of unseen robotic tasks is an important problem in r...
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03/12/2020
Human Grasp Classification for Reactive Human-to-Robot Handovers
Transfer of objects between humans and robots is a critical capability f...
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03/08/2020
Transferable Task Execution from Pixels through Deep Planning Domain Learning
While robots can learn models to solve many manipulation tasks from raw ...
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12/08/2019
6-DOF Grasping for Target-driven Object Manipulation in Clutter
Grasping in cluttered environments is a fundamental but challenging robo...
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11/13/2019
Motion Reasoning for Goal-Based Imitation Learning
We address goal-based imitation learning, where the aim is to output the...
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11/11/2019
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
To solve multi-step manipulation tasks in the real world, an autonomous ...
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10/16/2019
Conditional Driving from Natural Language Instructions
Widespread adoption of self-driving cars will depend not only on their s...
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10/10/2019
Trajectory Optimization for Coordinated Human-Robot Collaboration
Effective human-robot collaboration requires informed anticipation. The ...
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09/25/2019
"Good Robot!": Efficient Reinforcement Learning for Multi-Step Visual Tasks via Reward Shaping
In order to learn effectively, robots must be able to extract the intang...
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08/05/2019
Representing Robot Task Plans as Robust Logical-Dynamical Systems
It is difficult to create robust, reusable, and reactive behaviors for r...
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03/20/2019
Prospection: Interpretable Plans From Language By Predicting the Future
High-level human instructions often correspond to behaviors with multipl...
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11/06/2018
Evaluating Methods for End-User Creation of Robot Task Plans
How can we enable users to create effective, perception-driven task plan...
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10/27/2018
Training Frankenstein's Creature to Stack: HyperTree Architecture Search
We propose HyperTrees for the low cost automatic design of multiple-inpu...
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03/30/2018
Visual Robot Task Planning
Prospection, the act of predicting the consequences of many possible fut...
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03/06/2018
Occupancy Map Prediction Using Generative and Fully Convolutional Networks for Vehicle Navigation
Fast, collision-free motion through unknown environments remains a chall...
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11/08/2017
Learning to Imagine Manipulation Goals for Robot Task Planning
Prospection is an important part of how humans come up with new task pla...
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10/11/2017