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We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models.
Approximating polyhedra with spheres for time-critical collision detection
Philip M Hubbard · 1996
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Rrt-connect: An efficient approach to single-query path planning
James Kuffner and Steven M. LaValle · 2000
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Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts
Kris K. Hauser and Victor Ng-Thow-Hing · 2010
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Kinectfusion: Real-time dense surface mapping and tracking
Richard Newcombe, Shahram Izadi, Otmar Hilliges, David Molyneaux, David Kim, Andrew J. Davison, Pushmeet Kohli, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon · 2011
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Moveit![ros topics]
Sachin Chitta, Ioan Sucan, and Steve Cousins · 2012
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Example-based synthesis of 3d object arrangements
Matthew Fisher, Daniel Ritchie, Manolis Savva, Thomas Funkhouser, and Pat Hanrahan · 2012
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Fcl: A general purpose library for collision and proximity queries
Jia Pan, Sachin Chitta, and Dinesh Manocha · 2012
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Octomap: An efficient probabilistic 3d mapping framework based on octrees
M. Bennewitz C. Stachniss A. Hornung, K. M. Wurm and W. Burgard · 2013
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Filling your shelves: Synthesizing diverse style-preserving artifact arrangements
Lucas Majerowicz, Ariel Shamir, Alla Sheffer, and Holger H Hoos · 2013
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Generative adversarial nets
Ian Goodfellow, Jean Pouget-Abadie, Mehdi Mirza, Bing Xu, David Warde-Farley, Sherjil Ozair, Aaron Courville, and Yoshua Bengio · 2014
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Combined task and motion planning through an extensible planner-independent interface layer
Siddharth Srivastava, Eugene Fang, Lorenzo Riano, Rohan Chitnis, Stuart Russell, and Pieter Abbeel · 2014
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Shapenet: An information-rich 3d model repository
A.X. Chang, T. Funkhouser, L. Guibas, Pat Hanrahan, Q. Huang, Z Li, S. Savarese, M. Savva, S. Song, H. Su, J. Xiao, L. Yi, and F. Yu · 2015
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Batch informed trees (bit*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs
Jonathan D. Gammell, Siddhartha S. Srinivasa, and Tim D. Barfoot · 2015
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The clutterpalette: An interactive tool for detailing indoor scenes
Lap-Fai Yu, Sai-Kit Yeung, and Demetri Terzopoulos · 2015
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Articulated robot motion for simultaneous localization and mapping (arm-slam)
Matthew Klingensmith, Siddartha Sirinivasa, and Michael Kaess · 2016
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Hao Su Charles R Qi, Li Yi and Leonidas J Guibas · 2017
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Model predictive path integral control: From theory to parallel computation
A. Aldrich G. Williams and E. A. Theodorou · 2017
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Learning deep policies for robot bin picking by simulating robust grasping sequences
Jeffrey Mahler and Ken Goldberg · 2017
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Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 2017
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Robot learning in homes: Improving generalization and reducing dataset bias
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Gandhi, and Lerrel Pinto · 2018
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Implicit maximum likelihood estimation
Ke Li and Jitendra Malik · 2018
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Open3D: A modern library for 3D data processing
Qian-Yi Zhou, Jaesik Park, and Vladlen Koltun · 2018
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Segmenting unknown 3d objects from real depth images using mask r-cnn trained on synthetic data
Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeff Mahler, and Ken Goldberg · 2019
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Meta-sim: Learning to generate synthetic datasets
Amlan Kar, Aayush Prakash, Ming-Yu Liu, Eric Cameracci, Justin Yuan, Matt Rusiniak, David Acuna, Antonio Torralba, and Sanja Fidler · 2019
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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6-DOF GraspNet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
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The Replica dataset: A digital replica of indoor spaces
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, and Richard Newcombe · 2019
3d-front: 3d furnished rooms with layouts and semantics
Huan Fu, Bowen Cai, Lin Gao, Ling-Xiao Zhang, Jiaming Wang, Cao Li, Qixun Zeng, Chengyue Sun, Rongfei Jia, Binqiang Zhao, et al · 2021
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Integrated task and motion planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez · 2021
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Best practices for the integration of collaborative robots into workcells within small and medium-sized manufacturing operations
John Horst, Jeremy Marvel, and Elena Messina · 2021
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Neural collision clearance estimator for batched motion planning
J. Chase Kew, Brian Ichter, Maryam Bandari, Tsang-Wei Edward Lee, and Aleksandra Faust · 2021
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igibson 2.0: Object-centric simulation for robot learning of everyday household tasks
Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese · 2021
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Cited alongside, same era.
Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2019
Cited alongside, same era.
Rearrangement: A challenge for embodied ai
Dhruv Batra, Angel X Chang, Sonia Chernova, Andrew J Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, Manolis Savva, and Hao Su · 2020
Cited alongside, same era.
ACRONYM: A large-scale grasp dataset based on simulation
Clemens Eppner, Arsalan Mousavian, and Dieter Fox · 2020
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Online replanning in belief space for partially observable task and motion problems
Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie Pack Kaelbling, and Dieter Fox · 2020
Cited alongside, same era.
Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J. Davison · 2020
Cited alongside, same era.
Monte-carlo tree search for efficient visually guided rearrangement planning
Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, and Josef Sivic · 2020
Cited alongside, same era.
Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P. Srinivasan, Matthew Tancik, Jonathan T. Barron, Ravi Ramamoorthi, and Ren Ng · 2020
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Nerp: Neural rearrangement planning for unknown objects
Ahmed H Qureshi, Arsalan Mousavian, Chris Paxton, Michael Yip, and Dieter Fox · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, Gretchen Krueger, and Ilya Sutskever · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, and Dieter Fox · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Yunrong Guo Michelle Lu Kier Storey Miles Macklin David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State Viktor Makoviychuk, Lukasz Wawrzyniak · 2021
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Procthor: Large-scale embodied ai using procedural generation
Matt Deitke, Eli VanderBilt, Alvaro Herrasti, Luca Weihs, Jordi Salvador, Kiana Ehsani, Winson Han, Eric Kolve, Ali Farhadi, Aniruddha Kembhavi, et al · 2022
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Motion policy networks
Adam Fishman, Adithyavairavan Murali, Clemens Eppner, Bryan Peele, Byron Boots, and Dieter Fox · 2022
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Kaolin: A pytorch library for accelerating 3d deep learning research
Clement Fuji Tsang, Maria Shugrina, Jean Francois Lafleche, Towaki Takikawa, Jiehan Wang, Charles Loop, Wenzheng Chen, Krishna Murthy Jatavallabhula, Edward Smith, Artem Rozantsev, Or Perel, Tianchang Shen, Jun Gao, Sanja Fidler, Gavriel State, Jason Gorski, Tommy Xiang, Jianing Li, Michael Li, and Rev Lebaredian · 2022
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Semantically grounded object matching for robust robotic scene rearrangement
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, and Ingmar Posner · 2022
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Ifor: Iterative flow minimization for robotic object rearrangement
Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, and Dieter Fox · 2022
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Equivariant transporter network
Haojie Huang, Dian Wang, Robin Walter, and Robert Platt · 2022
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Geometric fabrics: Generalizing classical mechanics to capture the physics of behavior
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, and Nathan D. Ratliff · 2022
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ReorientBot: Learning object reorientation for specific-posed placement
Kentaro Wada, Stephen James, and Andrew J. Davison · 2022
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Transporters with visual foresight for solving unseen rearrangement tasks
Hongtao Wu, Jikai Ye, Xin Meng, Chris Paxton, and Gregory Chirikjian · 2022
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Objectseeker: A unified framework for one-shot object detection, tracking, and instance segmentation of everyday objects
Arsalan Mousavian, Lucas Manuelli, Brian Okorn, Yu Xiang, Clemens Eppner, Adithyavairavan Murali, and Dieter Fox · 2023
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