Publications

(2022). The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry. In Priprint.

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The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry
(2022). On-Robot Learning With Equivariant Models. In CoRL 2022.

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On-Robot Learning With Equivariant Models
(2022). Image to Icosahedral Projection for SO(3) Object Reasoning from Single-View Images. In PMLR.

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Image to Icosahedral Projection for SO(3) Object Reasoning from Single-View Images
(2022). Grasp Learning: Models, Methods, and Performance. In Annual Review of Control, Robotics, and Autonomous Systems, Vol 6.

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Grasp Learning: Models, Methods, and Performance
(2022). BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework. ISRR 2022.

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BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
(2022). Leveraging Fully Observable Policies for Learning under Partial Observability. In CoRL 2022.

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Leveraging Fully Observable Policies for Learning under Partial Observability
(2022). Visual Foresight With a Local Dynamics Model. ISRR 2022.

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Visual Foresight With a Local Dynamics Model
(2022). Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks. In IROS'22.

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Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks
(2022). Binding Actions to Objects in World Models. In ICLR'22 WOSC.

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Binding Actions to Objects in World Models
(2022). SO(2) Equivariant Reinforcement Learning. In ICLR 2022.

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SO(2) Equivariant Reinforcement Learning
(2022). Equivariant Transporter Network. In RSS 2022.

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Equivariant Transporter Network
(2022). Hierarchical Reinforcement Learning under Mixed Observability. In WAFR 2022.

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Hierarchical Reinforcement Learning under Mixed Observability
(2022). Sample Efficient Grasp Learning Using Equivariant Models. In RSS 2022.

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Sample Efficient Grasp Learning Using Equivariant Models
(2022). Binding Actions to Objects in World Models. In Preprint.

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Binding Actions to Objects in World Models
(2022). Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation. In AAMAS 2022.

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Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation
(2021). Policy Learning for Visually Conditioned Tactile Manipulation. In IROS 2021.

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Policy Learning for Visually Conditioned Tactile Manipulation
(2021). Equivariant Q Learning in Spatial Action Spaces. In CoRL 2021.

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Equivariant Q Learning in Spatial Action Spaces
(2021). GASCN: Graph Attention Shape Completion Network. In (3DV 2021).

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GASCN: Graph Attention Shape Completion Network
(2021). Design Guidelines for Human-Robot Interaction with Assistive Robot Manipulation Systems. In Paladyn.

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Design Guidelines for Human-Robot Interaction with Assistive Robot Manipulation Systems
(2021). Deep Transformer Q-Networks for Partially Observable Reinforcement Learning. In Preprint.

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Deep Transformer Q-Networks for Partially Observable Reinforcement Learning
(2021). Action Priors for Large Action Spaces in Robotics. In AAMAS'21.

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Action Priors for Large Action Spaces in Robotics
(2021). Efficient and Accurate Candidate Generation for Grasp Pose Detection in SE(3). In IROS 2021.

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Efficient and Accurate Candidate Generation for Grasp Pose Detection in SE(3)
(2021). Learning Discrete State Abstractions With Deep Variational Inference. In AABI'21.

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Learning Discrete State Abstractions With Deep Variational Inference
(2020). Learning bayes filter models for tactile localization. In IROS 2020.

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Learning bayes filter models for tactile localization
(2020). Policy learning in SE(3) action spaces. In CoRL 2020.

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Policy learning in SE(3) action spaces
(2020). Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability. In CoRL 2020.

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Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability
(2019). Towards Assistive Robotic Pick and Place in Open World Environments. In ISRR 2019.

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Towards Assistive Robotic Pick and Place in Open World Environments
(2019). Learning 6-DoF Grasping and Pick-Place Using Attention Focus. In AAAI 2019.

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Learning 6-DoF Grasping and Pick-Place Using Attention Focus
(2018). Pick and Place Without Geometric Object Models. In ICRA 2018.

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Pick and Place Without Geometric Object Models
(2017). Learning a visuomotor controller for real world robotic grasping using simulated depth images. In CoRL 2017.

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Learning a visuomotor controller for real world robotic grasping using simulated depth images
(2017). Grasp Pose Detection in Point Clouds. In IJRR.

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Grasp Pose Detection in Point Clouds
(2017). Open World Assistive Grasping Using Laser Selection. In ICRA 2017.

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Open World Assistive Grasping Using Laser Selection
(2017). Viewpoint Selection for Grasp Detection. In IROS 2017.

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Viewpoint Selection for Grasp Detection
(2016). High precision grasp pose detection in dense clutter. In IROS 2016.

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High precision grasp pose detection in dense clutter
(2015). Using Geometry to Detect Grasp Poses in 3D Point Clouds.. In ISRR 2015.

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Using Geometry to Detect Grasp Poses in 3D Point Clouds.