Stan Birchfield

NVIDIA

収録論文 52本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• Hydra-0: 汎用世界モデリングと制御のためのアクションフロー
  世界モデル2026/8/18

  ロボットの動作をピクセル運動として表現するアクションフローを用いた汎用世界モデルを提案し、動作誤差を大幅に低減し、ゼロショット合成やデータ効率的な適応を実現した。

• PROBE: VLMエージェントによる操作基盤の視覚質問応答
  VQA/操作計画2026/8/17

  ロボットが隠れた物体を探すために操作が必要な動的シーンでの視覚質問応答（MG-VQA）を提案し、シミュレータとベンチマークを構築、VLMエージェントの性能を評価・微調整する手法を示した。

• GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping
  2026/6/1
• Vesta: A Generalist Embodied Reasoning Model
  2026/6/1
• VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation
  2026/6/1
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
  2026/4/1
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
  2026/3/1
• Fast-FoundationStereo: Real-Time Zero-Shot Stereo Matching
  2025/12/1
• SpaceTools: Tool-Augmented Spatial Reasoning via Double Interactive RL
  2025/12/1
• BOP-ASK: Object-Interaction Reasoning for Vision-Language Models
  2025/11/1
• Robot Policy Evaluation for Sim-to-Real Transfer: A Benchmarking Perspective
  2025/8/1
• GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training
  2025/7/1
• OG-VLA: Orthographic Image Generation for 3D-Aware Vision-Language Action Model
  2025/6/1
• FoundationStereo: Zero-Shot Stereo Matching
  2025/1/1
• RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics
  2024/11/1
• SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
  2024/11/1
• GRS: Generating Robotic Simulation Tasks from Real-World Images
  2024/10/1
• Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models
  2024/9/1
• Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects
  2024/4/1
• DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation
  2023/12/1
• FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects
  2023/12/1
• Diff-DOPE: Differentiable Deep Object Pose Estimation
  2023/10/1
• HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
  2023/8/1
• BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
  2023/3/1
• Affordance Diffusion: Synthesizing Hand-Object Interactions
  2023/3/1
• MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
  2022/12/1
• One-Shot Neural Fields for 3D Object Understanding
  2022/10/1
• Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
  2022/10/1
• RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
  2022/10/1
• Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
  2022/5/1
• 6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
  2022/3/1
• PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
  2021/9/1
• Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
  2021/9/1
• NViSII: A Scriptable Tool for Photorealistic Image Generation
  2021/5/1
• Multi-View Fusion for Multi-Level Robotic Scene Understanding
  2021/3/1
• Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
  2020/12/1
• Joint Space Control via Deep Reinforcement Learning
  2020/11/1
• Fast Uncertainty Quantification for Deep Object Pose Estimation
  2020/11/1
• Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
  2020/8/1
• RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
  2020/7/1
• MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
  2020/6/1
• Camera-to-Robot Pose Estimation from a Single Image
  2019/11/1
• Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
  2019/11/1
• DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
  2019/10/1
• Toward Sim-to-Real Directional Semantic Grasping
  2019/9/1
• RMPflow: A Computational Graph for Automatic Motion Policy Generation
  2018/11/1
• Robust Learning of Tactile Force Estimation through Robot Interaction
  2018/10/1
• Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
  2018/9/1
• Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
  2018/5/1
• Riemannian Motion Policies
  2018/1/1
• An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using RGBD Data
  2017/8/1
• Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness
  2017/5/1