Publications

Our publications provide insight into some of our leading-edge research.

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2023

Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone
Guided Conditional Diffusion for Controllable Traffic Simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Gerry Che, Baishakhi Ray, Marco Pavone
Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
Boris Ivanovic, James Harrison, Marco Pavone
BITS: Bi-level Imitation for Traffic Simulation
Danfei Xu, Yuxiao Chen, Boris Ivanovic, Marco Pavone
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
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
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
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
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
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
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
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
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
Inverse Global Illumination using a Neural Radiometric Prior
Saeed Hadadan, Geng Lin, Jan Novák, Fabrice Rousselle, Matthias Zwicker
CALM: Conditional Adversarial Latent Models for Directable Virtual Characters
Chen Tessler, Yoni Kasten, Yunrong Guo, Shie Mannor, Gal Chechik, Xue Bin Peng
Real-Time Neural Appearance Models
Tizian Zeltner, Fabrice Rousselle, Andrea Weidlich, Petrik Clarberg, Jan Novák, Benedikt Bitterli, Alex Evans, Tomáš Davidovič, Simon Kallweit, Aaron Lefohn
GPViT: A High Resolution Non-Hierarchical Vision Transformer with Group Propagation
Chenhongyi Yang, Jiarui Xu, Shalini De Mello, Elliot J. Crowley, Xiaolong Wang
Notable top 25%
Oral
Robust and Controllable Object-Centric Learning through Energy-based Models
Ruixiang Zhang, Gerry Che, Boris Ivanovic, Renhao Wang, Marco Pavone, Yoshua Bengio, Liam Paull
A 9.7fJ/Conv.-Step Capacitive Sensor Readout Circuit with Incremental Zoomed Time Domain Quantization
Zilong Shen, Xiyuan Tang, Zhongyi Wu, Haoyang Luo, Zongnan Wang, Mingjie Liu, Xing Zhang, Yuan Wang
Efficient Sequence Transduction by Jointly Predicting Tokens and Durations
Hainan Xu, Fei Jia, Somshubra Majumdar, He Huang, Shinji Watanabe, Boris Ginsburg
Towards a scalable discrete quantum generative adversarial neural network
Smit Chaudhary, Patrick Huembeli, Ian MacCormack, Taylor Patti, Jean Kossaifi, Alexey Galda
A 0.297-pJ/Bit 50.4-Gb/s/Wire Inverter-Based Short-Reach Simultaneous Bi-Directional Transceiver for Die-to-Die Interface in 5-nm CMOS
Yoshinori Nishi, John W. Poulton, Walker Turner, Xi Chen, Sanquan Song, Brian Zimmer, Stephen Tell, Nikola Nedovic, John Wilson, William Dally, Tom Gray