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09/11/2023
Learning Geometric Representations of Objects via Interaction
We address the problem of learning representations from observations of ...
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06/09/2023
Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors
Endowing robots with tactile capabilities opens up new possibilities for...
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05/29/2023
TD-GEM: Text-Driven Garment Editing Mapper
Language-based fashion image editing allows users to try out variations ...
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05/12/2023
A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding
We present a virtual reality (VR) framework to automate the data collect...
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03/27/2023
Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning
Planning in learned latent spaces helps to decrease the dimensionality o...
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03/14/2023
GoNet: An Approach-Constrained Generative Grasp Sampling Network
Constraining the approach direction of grasps is important when picking ...
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01/12/2023
Equivariant Representations for Non-Free Group Actions
We introduce a method for learning representations that are equivariant ...
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10/08/2022
An Efficient and Continuous Voronoi Density Estimator
We introduce a non-parametric density estimator deemed Radial Voronoi De...
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09/19/2022
EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics
We study the problem of learning graph dynamics of deformable objects wh...
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09/12/2022
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
Physical interaction with textiles, such as assistive dressing, relies o...
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08/19/2022
Dance Style Transfer with Cross-modal Transformer
We present CycleDance, a dance style transfer system to transform an exi...
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07/20/2022
Digraphwave: Scalable Extraction of Structural Node Embeddings via Diffusion on Directed Graphs
Structural node embeddings, vectors capturing local connectivity informa...
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07/18/2022
Back to the Manifold: Recovering from Out-of-Distribution States
Learning from previously collected datasets of expert data offers the pr...
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07/08/2022
On the Subspace Structure of Gradient-Based Meta-Learning
In this work we provide an analysis of the distribution of the post-adap...
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07/07/2022
Equivariant Representation Learning via Class-Pose Decomposition
We introduce a general method for learning representations that are equi...
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07/06/2022
Deep Learning Approaches to Grasp Synthesis: A Review
Grasping is the process of picking an object by applying forces and torq...
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06/16/2022
Active Nearest Neighbor Regression Through Delaunay Refinement
We introduce an algorithm for active function approximation based on nea...
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06/16/2022
Voronoi Density Estimator for High-Dimensional Data: Computation, Compactification and Convergence
The Voronoi Density Estimator (VDE) is an established density estimation...
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04/18/2022
Training and Evaluation of Deep Policies using Reinforcement Learning and Generative Models
We present a data-efficient framework for solving sequential decision-ma...
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03/24/2022
Augment-Connect-Explore: a Paradigm for Visual Action Planning with Data Scarcity
Visual action planning particularly excels in applications where the sta...
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02/14/2022
Delaunay Component Analysis for Evaluation of Data Representations
Advanced representation learning techniques require reliable and general...
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02/08/2022
GraphDCA – a Framework for Node Distribution Comparison in Real and Synthetic Graphs
We argue that when comparing two graphs, the distribution of node struct...
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02/07/2022
GMC – Geometric Multimodal Contrastive Representation Learning
Learning representations of multimodal data that are both informative an...
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09/14/2021
Comparing Reconstruction- and Contrastive-based Models for Visual Task Planning
Learning state representations enables robotic planning directly from ra...
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08/19/2021
Batch Curation for Unsupervised Contrastive Representation Learning
The state-of-the-art unsupervised contrastive visual representation lear...
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05/26/2021
GeomCA: Geometric Evaluation of Data Representations
Evaluating the quality of learned representations without relying on a d...
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04/07/2021
Graph-based Normalizing Flow for Human Motion Generation and Reconstruction
Data-driven approaches for modeling human skeletal motion have found var...
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03/30/2021
Learning Deep Neural Policies with Stability Guarantees
Reinforcement learning (RL) has been successfully used to solve various ...
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03/17/2021
Textile Taxonomy and Classification Using Pulling and Twisting
Identification of textile properties is an important milestone toward ad...
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03/05/2021
Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms
Reinforcement learning methods can achieve significant performance but r...
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03/04/2021
Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects
Capturing scene dynamics and predicting the future scene state is challe...
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03/03/2021
Enabling Visual Action Planning for Object Manipulation through Latent Space Roadmap
We present a framework for visual action planning of complex manipulatio...
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02/23/2021
Interpretability in Contact-Rich Manipulation via Kinodynamic Images
Deep Neural Networks (NNs) have been widely utilized in contact-rich man...
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11/23/2020
Sequential Topological Representations for Predictive Models of Deformable Objects
Deformable objects present a formidable challenge for robotic manipulati...
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10/30/2020
Learning Stable Normalizing-Flow Control for Robotic Manipulation
Reinforcement Learning (RL) of robotic manipulation skills, despite its ...
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07/26/2020
Data-efficient visuomotor policy training using reinforcement learning and generative models
We present a data-efficient framework for solving deep visuomotor sequen...
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07/02/2020
Human-centered collaborative robots with deep reinforcement learning
We present a reinforcement learning based framework for human-centered c...
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06/15/2020
Analytic Manifold Learning: Unifying and Evaluating Representations for Continuous Control
We address the problem of learning reusable state representations from s...
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05/13/2020
The effect of Target Normalization and Momentum on Dying ReLU
Optimizing parameters with momentum, normalizing data values, and using ...
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04/22/2020
Stability-Guaranteed Reinforcement Learning for Contact-rich Manipulation
Reinforcement learning (RL) has had its fair share of success in contact...
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03/26/2020
Fashion Landmark Detection and Category Classification for Robotics
Research on automated, image based identification of clothing categories...
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03/20/2020
Modelling and Learning Dynamics for Robotic Food-Cutting
Data-driven approaches for modelling contact-rich tasks address many of ...
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03/19/2020
Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation
We present a framework for visual action planning of complex manipulatio...
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02/07/2020
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
In this work we propose algorithms to explicitly construct a conservativ...
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01/09/2020
Benchmarking In-Hand Manipulation
The purpose of this benchmark is to evaluate the planning and control as...
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12/15/2019
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
In this work, we address a planar non-prehensile sorting task. Here, a r...
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10/25/2019
Learning Task-Oriented Grasping from Human Activity Datasets
We propose to leverage a real-world, human activity RGB datasets to teac...
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10/14/2019
Imitating by generating: deep generative models for imitation of interactive tasks
To coordinate actions with an interaction partner requires a constant ex...
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09/11/2019
Probabilistic Model Learning and Long-term Prediction for Contact-rich Manipulation Tasks
Learning dynamics models is an essential component of model-based reinfo...
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08/12/2019