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Hierarchical Planning for Long-Horizon Manipulation with Geometric and...
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu: Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs. CoRR abs/2012.07277 (2020)
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Fast Uncertainty Quantification for Deep Object Pose Estimation.
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu: Fast Uncertainty Quantification for Deep Object Pose Estimation. CoRR abs/2011.07748 (2020)
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Joint Space Control via Deep Reinforcement Learning.
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield: Joint Space Control via Deep Reinforcement Learning. CoRR abs/2011.06332 (2020)
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Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera.
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield: Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera. CoRR abs/2008.11822 (2020)
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Guided Uncertainty-Aware Policy Optimization: Combining Learning and...
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox: Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based...
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PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using...
Zheng Tang, Milind Naphade, Stan Birchfield, Jonathan Tremblay, William Hodge, Ratnesh Kumar, Shuo Wang, Xiaodong Yang: PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly...
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SymGAN: Orientation Estimation without Annotation for Symmetric Objects.
Phil Ammirato, Jonathan Tremblay, Ming-Yu Liu, Alexander C. Berg, Dieter Fox: SymGAN: Orientation Estimation without Annotation for Symmetric Objects. WACV 2020: 1657-1666
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Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera.
Jonathan Tremblay, Stephen Tyree, Terry Mosier, Stan Birchfield: Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera. IROS 2020: 4227-4234
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Camera-to-Robot Pose Estimation from a Single Image.
Timothy E. Lee, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Oliver Kroemer, Dieter Fox, Stan Birchfield: Camera-to-Robot Pose Estimation from a Single Image. ICRA 2020: 9426-9432
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Guided Uncertainty-Aware Policy Optimization: Combining Learning and...
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan D. Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox: Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based...
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Toward Sim-to-Real Directional Semantic Grasping.
Shariq Iqbal, Jonathan Tremblay, Andy Campbell, Kirby Leung, Thang To, Jia Cheng, Erik Leitch, Duncan McKay, Stan Birchfield: Toward Sim-to-Real Directional Semantic Grasping. ICRA 2020: 7247-7253
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Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of...
Atsuhiro Noguchi, Umar Iqbal, Jonathan Tremblay, Tatsuya Harada, Orazio Gallo: Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of Articulated Objects. CoRR abs/2112.11347 (2021)
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Efficient Geometry-aware 3D Generative Adversarial Networks.
Eric R. Chan, Connor Z. Lin, Matthew A. Chan, Koki Nagano, Boxiao Pan, Shalini De Mello, Orazio Gallo, Leonidas J. Guibas, Jonathan Tremblay, Sameh Khamis, Tero Karras, Gordon Wetzstein: Efficient...
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Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB...
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image. CoRR abs/2109.06161 (2021)
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NViSII: A Scriptable Tool for Photorealistic Image Generation.
Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald: NViSII: A Scriptable Tool for Photorealistic Image Generation. CoRR abs/2105.13962 (2021)
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DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox: DexYCB: A Benchmark for Capturing...
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Multi-view Fusion for Multi-level Robotic Scene Understanding.
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Multi-view Fusion for Multi-level Robotic Scene Understanding. CoRR abs/2103.13539 (2021)
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Multi-view Fusion for Multi-level Robotic Scene Understanding.
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Multi-view Fusion for Multi-level Robotic Scene Understanding. IROS 2021: 6817-6824
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Joint Space Control via Deep Reinforcement Learning.
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield: Joint Space Control via Deep Reinforcement Learning. IROS 2021: 3619-3626
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Hierarchical Planning for Long-Horizon Manipulation with Geometric and...
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu: Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs. ICRA 2021: 6541-6548
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Fast Uncertainty Quantification for Deep Object Pose Estimation.
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu: Fast Uncertainty Quantification for Deep Object Pose Estimation. ICRA 2021: 5200-5207
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DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox: DexYCB: A Benchmark for Capturing...
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MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic: MegaPose: 6D Pose Estimation of Novel...
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Neural Fields for Robotic Object Manipulation from a Single Image.
Valts Blukis, Taeyeop Lee, Jonathan Tremblay, Bowen Wen, In So Kweon, Kuk-Jin Yoon, Dieter Fox, Stan Birchfield: Neural Fields for Robotic Object Manipulation from a Single Image. CoRR abs/2210.12126...
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RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator...
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield: RGB-Only Reconstruction of Tabletop Scenes for...
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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: Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation. CoRR...
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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: ProgPrompt: Generating Situated Robot Task Plans using Large Language...
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Variable Bitrate Neural Fields.
Towaki Takikawa, Alex Evans, Jonathan Tremblay, Thomas Müller, Morgan McGuire, Alec Jacobson, Sanja Fidler: Variable Bitrate Neural Fields. CoRR abs/2206.07707 (2022)
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Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with...
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation. CoRR abs/2205.11047...
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RTMV: A Ray-Traced Multi-View Synthetic Dataset for Novel View Synthesis.
Jonathan Tremblay, Moustafa Meshry, Alex Evans, Jan Kautz, Alexander Keller, Sameh Khamis, Charles T. Loop, Nathan Morrical, Koki Nagano, Towaki Takikawa, Stan Birchfield: RTMV: A Ray-Traced Multi-View...
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6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An...
Stephen Tyree, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Jeffrey Smith, Stan Birchfield: 6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and...
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Variable Bitrate Neural Fields.
Towaki Takikawa, Alex Evans, Jonathan Tremblay, Thomas Müller, Morgan McGuire, Alec Jacobson, Sanja Fidler: Variable Bitrate Neural Fields. SIGGRAPH (Conference Paper Track) 2022: 41:1-41:9
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6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An...
Stephen Tyree, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Jeffrey Smith, Stan Birchfield: 6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and...
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Single-Stage Keypoint- Based Category-Level Object Pose Estimation from an...
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Single-Stage Keypoint- Based Category-Level Object Pose Estimation from an RGB Image. ICRA 2022: 1547-1553
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Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with...
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield: Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation. ICRA 2022: 1258-1264
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Efficient Geometry-aware 3D Generative Adversarial Networks.
Eric R. Chan, Connor Z. Lin, Matthew A. Chan, Koki Nagano, Boxiao Pan, Shalini De Mello, Orazio Gallo, Leonidas J. Guibas, Jonathan Tremblay, Sameh Khamis, Tero Karras, Gordon Wetzstein: Efficient...
View ArticleClik here to view.
Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of...
Atsuhiro Noguchi, Umar Iqbal, Jonathan Tremblay, Tatsuya Harada, Orazio Gallo: Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of Articulated Objects. CVPR 2022: 3667-3677
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MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare.
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic: MegaPose: 6D Pose Estimation of Novel...
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Diff-DOPE: Differentiable Deep Object Pose Estimation.
Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, Stan Birchfield: Diff-DOPE: Differentiable Deep Object Pose Estimation. CoRR abs/2310.00463 (2023)
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HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose...
Andrew Guo, Bowen Wen, Jianhe Yuan, Jonathan Tremblay, Stephen Tyree, Jeffrey Smith, Stan Birchfield: HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances,...
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Partial-View Object View Synthesis via Filtered Inversion.
Fan-Yun Sun, Jonathan Tremblay, Valts Blukis, Kevin Lin, Danfei Xu, Boris Ivanovic, Péter Karkus, Stan Birchfield, Dieter Fox, Ruohan Zhang, Yunzhu Li, Jiajun Wu, Marco Pavone, Nick Haber: Partial-View...
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TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation.
Taeyeop Lee, Jonathan Tremblay, Valts Blukis, Bowen Wen, Byeong-Uk Lee, Inkyu Shin, Stan Birchfield, In So Kweon, Kuk-Jin Yoon: TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation....
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BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects.
Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield: BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects....
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HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose...
Andrew Guo, Bowen Wen, Jianhe Yuan, Jonathan Tremblay, Stephen Tyree, Jeffrey Smith, Stan Birchfield: HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances,...
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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: ProgPrompt: Generating Situated Robot Task Plans using Large Language...
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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: Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation. ICRA...
View ArticleClik here to view.
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator...
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield: RGB-Only Reconstruction of Tabletop Scenes for...
View ArticleClik here to view.
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation.
Taeyeop Lee, Jonathan Tremblay, Valts Blukis, Bowen Wen, Byeong-Uk Lee, Inkyu Shin, Stan Birchfield, In So Kweon, Kuk-Jin Yoon: TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation....
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BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects.
Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield: BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects....
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ProgPrompt: program generation for situated robot task planning using large...
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg: ProgPrompt: program generation for situated robot task planning using...
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