Stanford University

Publications

2019 Publications

Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity

Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei

Under review at IROS, 2019. February 2019

Continuous Relaxation of Symbolic Planner forOne-Shot Imitation Learning

De-An Huang, Danfei Xu, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei, and Juan Carlos Niebles

Under review at IROS, 2019. February 2019

Variable Impedance in End-Effector Space: An Action Space for Reinforcement Learning of Contact-Rich Tasks

Roberto Martín-Martín, Michelle A. Lee, Rachel Gardner, Jeannette Bohg, Silvio Savarese, Animesh Garg

Under review at IROS, 2019. February 2019

DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion

Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, Silvio Savarese

arXiv preprint. January 2019

2018 Publications

Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks

Michelle A. Lee*, Yuke Zhu*, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg

arXiv preprint. October 2018

Paper Project Video

RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation

Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei

Conference on Robot Learning (CoRL). October 2018

Paper Project Code

SURREAL: Open-Source Reinforcement Learning Framework and Robot Manipulation Benchmark

Linxi Fan*, Yuke Zhu*, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei

Conference on Robot Learning (CoRL). October 2018

Paper Project Video Code

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter

Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martin-Martin, Animesh Garg, Silvio Savarese, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA). September 2018

Paper Project Video

Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration

De-an Huang*, Suraj Nair*, Danfei Xu*, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, Juan Carlos Niebles

arXiv preprint. August 2018

Paper Project

Learning Task-Oriented Grasping for Tool Manipulation with Simulated Self-Supervision

Kuan Fang, Yuke Zhu, Animesh Garg, Viraj Mehta, Andrey Kurenkov, Li Fei-Fei, Silvio Savarese

Robotics: Science and Systems (RSS). June 2018

Paper Project Video

Finding “It”: Weakly-Supervised Reference-Aware Visual Grounding in Instructional Video

De-An Huang, Shyamal Buch, Lucio Dery, Animesh Garg, Li Fei-Fei, Juan Carlos Niebles

IEEE Conference on Computer Vision & Pattern Recognition (CVPR). June 2018

Paper Video

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

Danfei Xu*, Suraj Nair*, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, Silvio Savarese

IEEE International Conference on Robotics and Automation (ICRA). May 2018

Paper Project Video Code

DeformNet: Free-Form Deformation Network for 3d Shape Reconstruction From a Single Image

Andrey Kurenkov, Jingwei Ji, Animesh Garg, Viraj Mehta, JunYoung Gwak, Chris Choy, Silvio Savarese

IEEE Winter Conference on Applications of Computer Vision (WACV). March 2018

Paper Project

2017 Publications

AdaPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems

James Harrison*, Animesh Garg*, Boris Ivanovic, Yuke Zhu, Silvio Savarese, Li Fei-Fei, Marco Pavone

International Symposium on Robotics Research (ISRR). December 2017

Paper

Visual Semantic Planning using Deep Successor Representations

Yuke Zhu*, Daniel Gordon*, Eric Kolve, Dieter Fox, Li Fei-Fei, Abhinav Gupta, Roozbeh Mottaghi, Ali Farhadi

International Conference on Computer Vision (ICCV). October 2017

Paper Video Code

Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations

Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, Silvio Savarese

International Conference on Intelligent Robots and Systems (IROS). September 2017

Paper Project Video

Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning

Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J. Lim, Abhinav Gupta, Li Fei-Fei, Ali Farhadi

International Conference on Robotics and Automation (ICRA). May 2017

Paper Project Video