Sequential manipulation tasks require a robot to perceive the state of an environment and
plan a sequence of actions leading to a desired goal state, where the ability to reason about …

Robots operating in human environments must be able to rearrange objects into
semantically-meaningful configurations, even if these objects are previously unseen. In this …

Deformable object manipulation requires computationally efficient representations that are
compatible with robotic sensing modalities. In this paper, we present VIRDO: an implicit …

Human environments contain numerous objects configured in a variety of arrangements.
Our goal is to enable robots to repose previously unseen objects according to learned …

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason
about how multiple objects relate to one another and how those relations may change as the …

Robots operating in human environments must be able to rearrange objects into
semantically-meaningful configurations, even if these objects are previously unseen. In this …

Robots need to have a memory of previously observed, but currently occluded objects to
work reliably in realistic environments. We investigate the problem of encoding object …

We present COIL (Counterfactual Object Interaction Learning), a novel way of learning skills
of object interactions on entity-centric environments. The goal is to learn primitive behaviors …

Objects rarely sit in isolation in everyday human environments. If we want robots to operate
and perform tasks in our human environments, they must understand how the objects they …

We consider the problem of completing a set of n tasks with a human-robot team using
minimum effort. In many domains, teaching a robot to be fully autonomous can be …