Publications | Research

2023

DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

Magic3D: High-Resolution Text-to-3D Content Creation

Chen-Hsuan Lin, Jun Gao, Luming Tang, Towaki Takikawa, Xiaohui Zeng, Xun Huang, Karsten Kreis, Sanja Fidler, Ming-Yu Liu, Tsung-Yi Lin

CVPR

Fast Procedural Noise By Stochastic Sampling

Marcos Fajardo, Matt Pharr

Learning Autonomous Vehicle Safety Concepts from Demonstrations

Karen Leung, Sushant Veer, Edward Schmerling, Marco Pavone

Tree-structured Policy Planning with Learned Behavior Models

Yuxiao Chen, Peter Karkus, Boris Ivanovic, Xinshuo Weng, Marco Pavone

ICRA

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles

Sushant Veer, Karen Leung, Ryan Cosner, Yuxiao Chen, Marco Pavone

ICRA

Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models

Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone

ICRA

Guided Conditional Diffusion for Controllable Traffic Simulation

Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Gerry Che, Baishakhi Ray, Marco Pavone

ICRA

Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning

Boris Ivanovic, James Harrison, Marco Pavone

ICRA

BITS: Bi-level Imitation for Traffic Simulation

Danfei Xu, Yuxiao Chen, Boris Ivanovic, Marco Pavone

ICRA

FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments

Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang

ICRA

ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models

Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg

ICRA

CuRobo: Parallelized Collision-Free Robot Motion Generation

Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox

Global and Reactive Motion Generation with Geometric Fabric Command Sequences

Weiming Zhi, Iretiayo Akinola, Karl Van Wyk, Nathan Ratliff, Fabio Ramos

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation

Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A. Vela, Stan Birchfield

ICRA

DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets

Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox

ICRA

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Bingjie Tang, Michael A. Lin, Iretiayo Akinola, Ankur Handa, Gaurav S. Sukhatme, Fabio Ramos, Dieter Fox, Yashraj Narang

The Best Defense is a Good Offense: Adversarial Augmentation against Adversarial Attacks

Iuri Frosio, Jan Kautz

CVPR

Semantic Anomaly Detection with Large Language Models

Amine Elhafsi, Rohan Sinha, Christopher Agia, Edward Schmerling, Issa Nesnas, Marco Pavone

Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models

Wenhao Ding, Tong Che, Ding Zhao, Marco Pavone

ICML

RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control

Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles Loop, Alexander Schwing, Stan Birchfield

ICRA

Subpixel Deblurring of Anti-Aliased Raster Clip Art

Jinfan Yang, Nicholas Vining, Shakiba Kheradmand, Nathan Carr, Leonid Sigal, Alla Sheffer

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

ICRA

Tight Bounding Boxes for Voxels and Bricks in a Signed Distance Field Ray Tracer

Herman Hansson-Söderlund, Tomas Akenine-Möller

Luminance-Preserving and Temporally Stable Daltonization

Pontus Ebelin, Cyril Crassin, Gyorgy Denes, Magnus Oskarsson, Kalle Åström, Tomas Akenine-Möller

Fast Conformer with Linearly Scalable Attention for Efficient Speech Recognition

Dima Rekesh, Nithin Rao Koluguri, Samuel Kriman, Somshubra Majumdar, Vahid Noroozi, He Huang, Oleskii Hrinchuk, Krishna Puvvada, Ankur Kumar, Jagadeesh Balam, Boris Ginsburg

Leveraging Synthetic Targets for Machine Translation

Sarthak Mittal, Oleskii Hrinchuk, Oleksii Kuchaiev

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone

Recursive Control Variates for Inverse Rendering

Baptiste Nicolet, Fabrice Rousselle, Jan Novák, Alexander Keller, Wenzel Jakob, Thomas Müller