Publications
Preprints
Robot-Powered Data Flywheels: Deploying Robots in the Wild for Continual Data Collection and Foundation Model Adaptation
Jennifer Grannen, Michelle Pan, Kenneth Llontop, Cherie Ho,
Mark Zolotas, Jeannette Bohg, Dorsa Sadigh
arXiv, November 2025
Masquerade: Learning from In-the-wild Human Videos using Data-Editing
Marion Lepert, Jiaying Fang, Jeannette Bohg
arXiv, August 2025
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao, Jingyun Yang, Jimmy Wu, Hengyuan Hu, Rika Antonova, Francis Engelmann, Dorsa Sadigh, Jeannette Bohg
arXiv, May 2025
Deformable Cargo Transport in Microgravity with Astrobee
Daniel Morton, Rika Antonova, Brian Coltin, Marco Pavone, Jeannette Bohg
arXiv, May 2025
Force-Aware Autonomous Robotic Surgery
Alaa Eldin Abdelaal, Jiaying Fang, Tim N. Reinhart, Jacob A. Mejia, Tony Z. Zhao, Jeannette Bohg, Allison M. Okamura
arXiv, January 2025
2025
Scaffolding Dexterous Manipulation with Vision-Language Models
Vincent de Bakker, Joey Hejna, Tyler Ga Wei Lum, Onur Celik, Aleksandar Taranovic, Denis Blessing, Gerhard Neumann, Jeannette Bohg, Dorsa Sadigh
Conference on Neural Information Processing Systems (NeurIPS), 2025
Gentle Object Retraction in Dense Clutter Using Multimodal Force Sensing and Imitation Learning
Dane Brouwer, Joshua Citron, Heather Nolte, Jeannette Bohg, and Mark Cutkosky
IEEE Robotics and Automation Letters, 2025
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song
Conference on Robot Learning (CoRL), 2025
Constraint-Preserving Data Generation for One-Shot Visuomotor Policy Generalization
Kevin Lin, Varun Ragunath, Andrew McAlinden, Aaditya Prasad, Jimmy Wu, Yuke Zhu, Jeannette Bohg
Conference on Robot Learning (CoRL), 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum*, Olivia Y. Lee*, C. Karen Liu, Jeannette Bohg
Conference on Robot Learning (CoRL), 2025
Mobi-π: Mobilizing Your Robot Learning Policy
Jingyun Yang, Isabella Huang*, Brandon Vu*, Max Bajracharya, Rika Antonova, Jeannette Bohg
Conference on Robot Learning (CoRL), 2025
CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia, Rohan Sinha, Jingyun Yang, Rika Antonova, Marco Pavone, Haruki Nishimura, Masha Itkina, Jeannette Bohg
Conference on Robot Learning (CoRL), 2025
Phantom: Training Robots Without Robots Using Only Human Videos
Marion Lepert, Jiaying Fang, Jeannette Bohg
Conference on Robot Learning (CoRL), 2025
ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation
Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg
International Conference on Intelligent Robots and Systems (IROS), 2025
Causal-PIK: Causality-based Physical Reasoning with a Physics-Informed Kernel
Carlota Pares Morlans, Michelle Yi, Claire Chen, Sarah A. Wu, Rika Antonova, Tobias Gerstenberg, Jeannette Bohg
International Conference on Machine Learning, 2025
SLAG: Scalable Language-Augmented Gaussian Splatting
Laszlo Szilagyi, Francis Engelmann, Jeannette Bohg
IEEE Robotics and Automation Letters (RA-L) and Humanoids, 2025
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg
International Conference on Robotic Automation (ICRA), 2025
Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
Juntao Ren, Priya Sundaresan, Dorsa Sadigh, Sanjiban Choudhury, Jeannette Bohg
International Conference on Robotic Automation (ICRA), 2025
What's the Move? Hybrid Imitation Learning via Salient Points
Priya Sundaresan*, Hengyuan Hu*, Quan Vuong, Jeannette Bohg, Dorsa Sadigh
International Conference on Learning Representations (ICLR), 2025
DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
Claire Chen, Zhongchun Yu, Hojung Choi, Mark Cutkosky, Jeannette Bohg
IEEE Robotics and Automation Letters (RA-L) and Humanoids, 2025
2024
DexMOTS : Dexterous Manipulation with Differentiable Simulation
Krishnan Srinivasan, Jeremy A. Collins, Eric Heiden, Ian Ng, Jeannette Bohg, Animesh Garg
International Symposium of Robotics Research (ISRR), December 2024
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas
Conference on Robot Learning (CoRL), November 2024
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg
Conference on Robot Learning (CoRL), November 2024
APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, Sanjiban Choudhury
Conference on Robot Learning (CoRL), November 2024
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh*, Jeannette Bohg*, Stefan Schaal*
Conference on Robot Learning (CoRL), November 2024 (Oral)
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova, Marco Pavone, Jeannette Bohg
Conference on Robot Learning (CoRL), November 2024
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Jingyun Yang*, Ziang Cao*, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
Conference on Robot Learning (CoRL), November 2024
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Tyler Ga Wei Lum*, Albert H. Li*, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg
Conference on Robot Learning (CoRL), November 2024
Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
Marion Lepert, Ria Doshi, Jeannette Bohg
Conference on Robot Learning (CoRL), November 2024
AO-Grasp: Articulated Object Grasp Generation
Carlota Pares Morlans*, Claire Chen*, Yijia Weng, Michelle Yi, Yuying Huang, Nick Heppert, Linqi Zhou, Leonidas Guibas, Jeannette Bohg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation
Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou, Jeannette Bohg
Proceedings of Robotics: Science and Systems (RSS), 2024
SpringGrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis
Sirui Chen, Jeannette Bohg, C. Karen Liu
Proceedings of Robotics: Science and Systems (RSS), 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky et al.
Proceedings of Robotics: Science and Systems (RSS), 2024
Development and Evaluation of a Learning-based Model for Real-time Haptic Texture Rendering
Negin Heravi, Heather Culbertson, Allison M. Okamura, Jeannette Bohg
IEEE Transactions on Haptics, March 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
IEEE International Conference on Robotics and Automation (ICRA), 2024 (Best Conference Paper Award, Finalist for Best Paper Award in Robot Manipulation and Best Student Paper Award)
ShaSTA: Modeling Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
Tara Sadjadpour, Jie Li, Rares Ambrus, Jeannette Bohg
IEEE Robotics and Automation Letters. Presented at IEEE International Conference on Robotics and Automation (ICRA), 2024
COAST: Constraints and Streams for Task and Motion Planning
Brandon Vu, Toki Migimatsu, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2024
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
Jingyun Yang*, Congyue Deng*, Jimmy Wu, Rika Antonova, Leonidas Guibas, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2024
Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning
Jingyun Yang*, Max Sobol Mark*, Brandon Vu, Archit Sharma, Jeannette Bohg, Chelsea Finn
IEEE International Conference on Robotics and Automation (ICRA), 2024
Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter
Dane Brouwer, Joshua Citron, Hojung Choi, Marion Lepert, Michael Lin, Jeannette Bohg, Mark Cutkosky
IEEE International Conference on Robotics and Automation (ICRA), 2024
2023
KITE: Keypoints + Instructions To Execution Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg
Conference on Robot Learning, November 2023
Text2Motion: From Natural Language Instructions to Feasible Plans
Kevin Lin*, Christopher Agia*, Toki Migimatsu, Marco Pavone, Jeannette Bohg
Special Issue on Large Language Models in Robotics, Autonomous Robots, November 2023
ShaSTA-Fuse: Camera-LiDAR Sensor Fusion to Model Shape and Spatio-Temporal Affinities for 3D Multi-Object Tracking
Tara Sadjadpour, Rares Ambrus, Jeannette Bohg
October 2023
TidyBot: Personalized Robot Assistance with Large Language Models
Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023. Extended version in Special Issue on Large Language Models in Robotics, Autonomous Robots
Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks
Kuan Fang*, Toki Migimatsu*, Ajay Mandlekar, Li Fei-Fei, Jeannette Bohg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023
In-Hand Manipulation with Tactile Sensing for Inserting Unknown Objects
Chaoyi Pan*, Marion Lepert*, Shenli Yuan, Rika Antonova, Jeannette Bohg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023
Deep Learning Approaches to Grasp Synthesis: a Review
Newbury, Rhys, Gu, Morris, Chumbley, Lachlan, Mousavian, Arsalan, Eppner, Clemens, Leitner, Jürgen, Bohg, Jeannette, Morales, Antonio, Asfour, Tamim, Kragic, Danica, Fox, Dieter, Cosgun, Akansel
Transactions on Robotics, June 2023
CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects
Heppert, N., Irshad, M. Z., Zakharov, S., Liu, K., Ambrus, R. A., Bohg, J., Valada, A., Kollar, T.
Conference on Computer Vision and Pattern Recognition (CVPR), 2023
The ObjectFolder Benchmark: Multisensory Learning with Neural and Real Objects
Ruohan Gao*, Yiming Dou*, Hao Li*, Tanmay Agarwal, Jeannette Bohg, Yunzhu Li, Li Fei-Fei, Jiajun Wu
Conference on Computer Vision and Pattern Recognition (CVPR), 2023
Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations
Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi
IEEE International Conference on Robotics and Automation (ICRA), 2023
STAP: Sequencing Task-Agnostic Policies
Christopher Agia*, Toki Migimatsu*, Jiajun Wu, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2023
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
Mengxi Li, Rika Antonova, Dorsa Sadigh, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2023
2022
Rethinking Optimization with Differentiable Simulation from a Global Perspective
Rika Antonova*, Jingyun Yang*, Krishna Murthy, Jeannette Bohg
Conference on Robot Learning (CoRL), December 2022 (Oral)
Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
Michael A Lin, Emilio Reyes, Jeannette Bohg, Mark R Cutkosky
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects
Priya Sundaresan, Rika Antonova, Jeannette Bohg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Category-Independent Articulated Object Tracking with Factor Graphs
Nick Heppert, Toki Migimatsu, Brent Yi, Claire Chen, Jeannette Bohg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer
Ruohan Gao*, Zilin Si*, Yen-Yu Chang*, Samuel Clarke, Jeannette Bohg, Li Fei-Fei, Wenzhen Yuan, Jiajun Wu
Conference on Computer Vision and Pattern Recognition (CVPR), 2022
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg
IEEE Robotics and Automation Letters (RA-L), 2022
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks
Migimatsu, T., Lian, W., Bohg, J., Schaal, S
IEEE International Conference on Robotics and Automation (ICRA), 2022
Grounding Predicates through Actions
Migimatsu, T. and Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2022
Learning Periodic Tasks from Human Demonstrations
Yang, J., Zhang, J., Settle, C., Rai, A., Antonova, R., Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2022
Vision-Only Robot Navigation in a Neural Radiance World
Adamkiewicz, M., Chen, T., Caccavale, A., Gardner, R., Culbertson, P., Bohg, J., Schwager, M
IEEE Robotics and Automation Letters and ICRA, 2022
Predicting Hand-Object Interaction for Improved Haptic Feedback in Mixed Reality
M. Salvato, Negin Heravi, Allison M. Okamura, Jeannette Bohg
IEEE Robotics and Automation Letters and ICRA, 2022
Minkowski Tracker: A Sparse Spatio-Temporal R-CNN for Joint Object Detection and Tracking
JunYoung Gwak, Silvio Savarese, Jeannette Bohg
arXiv, August 2022
2021
Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints
Choudhury, S., Gupta, J. K., Kochenderfer, M. J., Sadigh, D., Bohg, J.
Autonomous Robots, November 2021
Learning to be Multimodal: Co-evolving Sensory Modalities and Sensor Properties
Antonova, R., Bohg, J.
Conference on Robot Learning (CoRL) - Blue Sky Track, November 2021
DiffImpact: Differentiable Rendering and Identification of Impact Sounds
Clarke, S., Heravi, N., Rau, M., Guo, R., Wu, J., James, D., Bohg, J.
Conference on Robot Learning (CoRL), November 2021
GRAC : Self-Guided and Self-Regularized Actor-Critic
Shao, L., You, Y., Yan, M., Yuan, S., Sun, Q., Bohg, J.
Conference on Robot Learning (CoRL), November 2021
XIRL: Cross-embodiment Inverse Reinforcement Learning
Zakka, K., Zeng, A., Florence, P., Tompson, J., Bohg, J., Dwibedi, D.
Conference on Robot Learning (CoRL), November 2021
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Nicholas Roy et al.
arXiv, October 2021
Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations
Shao, L., Migimatsu, T., Zhang, Q., Yang, K. and Bohg, J.
International Journal of Robotics Research (IJRR), October 2021
Differentiable Factor Graph Optimization for Learning Smoothers
Yi, B., Lee, M.A., Kloss, A., Martín-Martín, R., Bohg, J.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Chen, C., Culbertson, P., Lepert, M., Schwager, M., Bohg, J.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021
On the Opportunities and Risks of Foundation Models
Rishi Bommasani et al.
arXiv, August 2021
Learning Latent Actions to Control Assistive Robots
Losey, D., Jun Jeon, H., Li, M., Srinivasan, K., Mandlekar, A., Garg, A., Bohg, J., Sadigh, D.
Journal of Autonomous Robots (AURO), August 2021
How to Train Your Differentiable Filter
Kloss, A., Martius, G., Bohg, J.
Autonomous Robots, June 2021
Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving
Chiu, H.-K., Li, J., Ambrus, R., Bohg, J.
IEEE International Conference on Robotics and Automation (ICRA), 2021
Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
Lee, M.A., Tan, M., Zhu, Y., Bohg, J.
IEEE International Conference on Robotics and Automation (ICRA), 2021
Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks
Zachares, P.A., Lee, M.A., Lian, W, Bohg, J.
IEEE International Conference on Robotics and Automation (ICRA), 2021
OmniHang: Learning to Hang Arbitrary Objects Using Contact Point Correspondences and Neural Collision Estimation
You, Y.*, Shao, L.*, Migimatsu, T., Bohg, J.
IEEE International Conference on Robotics and Automation (ICRA), 2021
2020
Multimodal Sensor Fusion with Differentiable Filters
Lee, M.A.*, Yi, B.*, Martín-Martín, R., Savarese, S., Bohg, J
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020
Learning Topological Motion Primitives for Knot Planning
Yan, M., Li, G., Zhu, Y., Bohg, J
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020
Learning User-Preferred Mappings for Intuitive Robot Control
Mengxi Li, Dylan P. Losey, Jeannette Bohg, Dorsa Sadigh
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020
Combining Learned and Analytical Models for Predicting Action Effects from Sensory Data
Kloss, A., Schaal, S., Bohg, J
The International Journal on Robotics Research (IJRR), September 2020
Concept2Robot: Learning Manipulation Concepts from Instructions and Human Demonstrations
Shao, L., Migimatsu, T., Zhang, Q., Yang, K., Bohg, J.
Proceedings of Robotics: Science and Systems (RSS), July 2020
Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints
Choudhury, S., Gupta, J. K., Kochenderfer, M. J., Sadigh, D., Bohg, J
Proceedings of Robotics: Science and Systems (RSS), July 2020
Probabilistic 3D Multi-Object Tracking for Autonomous Driving
Chiu, H.-K., Prioletti, A., Li, J. and Bohg, J
Technical Report, 2020. (Winner NuScenes Tracking Challenge)
Learning Hierarchical Control for Robust In-Hand Manipulation
Li, T., Srinivasan, K., Meng, M., Yuan, W., Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2020
Learning to Scaffold the Development of Robotic Manipulation Skills
Shao, L., Migimatsu, T., Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2020
Learning Task-Oriented Grasping from Human Activity Datasets
Kokic, M., Kragic, D., Bohg, J
IEEE Robotics and Automation Letters and ICRA, 2020
Learning an Action-Conditional Model for Haptic Texture Generation
Negin Heravi, Wenzhen Yuan, Allison M. Okamura, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2020
Accurate Vision-based Manipulation through Contact Reasoning
Alina Kloss, Maria Bauza, Jiajun Wu, Joshua B. Tenenbaum, Alberto Rodriguez, Jeannette Bohg
IEEE International Conference on Robotics and Automation (ICRA), 2020
Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects
Yan, M., Zhu, Y., Jin, N., Bohg, J.
IEEE Robotics and Automation Letters and ICRA, 2020
Object-Centric Task and Motion Planning in Dynamic Environments
Migimatsu, T., Bohg, J.
IEEE Robotics and Automation Letters and ICRA, 2020
UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands
Shao, L., Ferreira, F., Jorda, M., Nambiar, V., Luo, J., Solowjow, E., Aparicio Ojea, J., Khatib, O., Bohg, J.
IEEE Robotics and Automation Letters and ICRA, 2020
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks
Lee, M.A., Zhu, Y., Zachares, P., Tan, M., Srinivasan, K., Savarese, S., Fei-Fei, L., Garg, A., Bohg, J.
Transactions in Robotics, 2020
2019
Learning from My Partner's Actions: Roles in Decentralized Robot Teams
Dylan P. Losey*, Mengxi Li*, Jeannette Bohg, Dorsa Sadigh
Conference on Robot Learning (CoRL), November 2019 (Oral)
Predicting grasp success in the real world - A study of quality metrics and human assessment
Carlos Rubert, Daniel Kappler, Jeannette Bohg, Antonio Morales
Robotics and Autonomous Systems. Volume 121, November 2019
MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences
Xingyu Liu, Mengyuan Yan, Jeannette Bohg
International Conference on Computer Vision (ICCV), November 2019 (Oral)
Learning to Estimate Pose and Shape of Hand-Held Objects from RGB Images
Kokic, M., Kragic, D., Bohg, J
International Conference on Intelligent Robots and Systems (IROS), October 2019
Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases
Fabio Ferreira, Lin Shao, Tamim Asfour, Jeannette Bohg
NeurIPS 2019 Graph Representation Learning Workshop, September 2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks
Roberto Martín-Martín, Michelle A. Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, Animesh Garg
International Conference on Intelligent Robots and Systems (IROS), October 2019
Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks
Lee, M.A.*, Zhu, Y.*, Srinivasan, K., Shah, P., Savarese, S., Fei-Fei, L., Garg, A., Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2019. (Best Paper Award; Finalist for Best Paper Award on Cognitive Robotics)
Leveraging Contact Forces for Learning to Grasp
Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L. , Bohg, J
IEEE International Conference on Robotics and Automation (ICRA), 2019
Learning Manipulation under Physics Constraints with Visual Perception
Li, W., Leonardis, A., Bohg, J., Fritz, M
arXiv, April 2019
2018
Motion-based Object Segmentation based on Dense RGB-D Scene Flow
Shao, L., Shah, P., Dwaracherla, V., Bohg, J
IEEE Robotics and Automation Letters, 3(4):3797-3804, IEEE, IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2018
ClusterNet: Instance Segmentation in RGB-D Images
Shao, L., Tian, Y., Bohg, J
arXiv, July 2018
Real-time Perception meets Reactive Motion Generation
Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J.
IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018
2017
Acquiring Target Stacking Skills by Goal-Parameterized Deep Reinforcement Learning
Li, W., Bohg, J., Fritz, M
arXiv, November 2017
On the relevance of grasp metrics for predicting grasp success
Rubert, C., Kappler, D., Schaal, S., Bohg, J.
Proceedings of the IEEE/RSJ International Conference of Intelligent Robots and Systems, September 2017
Probabilistic Articulated Real-Time Tracking for Robot Manipulation
Garcia Cifuentes, C., Issac, J., Wüthrich, M., Schaal, S., Bohg, J.
IEEE Robotics and Automation Letters (RA-L), 2(2):577-584, April 2017 (2017 RA-L Best Paper Award, Finalist ICRA '17 Best Vision Paper)
Interactive Perception: Leveraging Action in Perception and Perception in Action
Bohg, J., Hausman, K., Sankaran, B., Brock, O., Kragic, D., Schaal, S., Sukhatme, G.
IEEE Transactions on Robotics, 33, pages: 1273-1291, December 2017
2016
Interlocking Perception-Action Loops at Multiple Time Scales - A System Proposal for Manipulation in Uncertain and Dynamic Environments
Bohg, J., Kappler, D., Meier, F., Ratliff, N., Mainprice, J., Issac, J., Wüthrich, M., Garcia Cifuentes, C., Berenz, V., Schaal, S
International Workshop on Robotics in the 21st century: Challenges and Promises, September 2016
Learning Where to Search Using Visual Attention
Kloss, A., Kappler, D., Lensch, H. P. A., Butz, M. V., Schaal, S., Bohg, J
Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, IEEE, IROS, October 2016
Implications of Action-Oriented Paradigm Shifts in Cognitive Science
Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A
The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strungmann Forum, May 2016
Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment
Bohg, J., Kragic, D
The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strungmann Forum, May 2016
Robot Arm Pose Estimation by Pixel-wise Regression of Joint Angles
Widmaier, F., Kappler, D., Schaal, S., Bohg, J
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016
Optimizing for what matters: the Top Grasp Hypothesis
Kappler, D., Schaal, S., Bohg, J
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016
Exemplar-based Prediction of Object Properties from Local Shape Similarity
Bohg, J., Kappler, D., Schaal, S
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016
Depth-based Object Tracking Using a Robust Gaussian Filter
Issac, J., Wüthrich, M., Garcia Cifuentes, C., Bohg, J., Trimpe, S., Schaal, S
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016
Automatic LQR Tuning Based on Gaussian Process Global Optimization
Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016
Robust Gaussian Filtering using a Pseudo Measurement
Wüthrich, M., Garcia Cifuentes, C., Trimpe, S., Meier, F., Bohg, J., Issac, J., Schaal, S
Proceedings of the American Control Conference, Boston, MA, USA, July 2016
2015
Automatic LQR Tuning Based on Gaussian Process Optimization: Early Experimental Results
Marco, A., Hennig, P., Bohg, J., Schaal, S., Trimpe, S.
Machine Learning in Planning and Control of Robot Motion Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2015
Direct Loss Minimization Inverse Optimal Control
Doerr, A., Ratliff, N., Bohg, J., Toussaint, M., Schaal, S.
Proceedings of Robotics: Science and Systems, Rome, Italy, Robotics: Science and Systems XI, July 2015
Leveraging Big Data for Grasp Planning
Kappler, D., Bohg, B., Schaal, S.
Proceedings of the IEEE International Conference on Robotics and Automation, May 2015
Policy Learning with Hypothesis Based Local Action Selection
Sankaran, B., Bohg, J., Ratliff, N., Schaal, S.
Reinforcement Learning and Decision Making, 2015
The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems
Wüthrich, M., Bohg, J., Kappler, D., Pfreundt, C., Schaal, S.
Proceedings of the IEEE International Conference on Robotics and Automation, May 2015
2014
Robot Arm Pose Estimation through Pixel-Wise Part Classification
Bohg, J., Romero, J., Herzog, A., Schaal, S.
IEEE International Conference on Robotics and Automation (ICRA), June 2014
Learning of Grasp Selection based on Shape-Templates
Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Bohg, J., Asfour, T., Schaal, S.
Autonomous Robots, 36(1-2):51-65, Springer US, January 2014
Dual Execution of Optimized Contact Interaction Trajectories
Toussaint, M., Ratliff, N., Bohg, J., Righetti, L., Englert, P., Schaal, S.
Proceedings of the International Conference on Intelligent Robots and Systems, Chicago, IL, October 2014
Data-Driven Grasp Synthesis - A Survey
Bohg, J., Morales, A., Asfour, T., Kragic, D.
IEEE Transactions on Robotics, 30, pages: 289 - 309, IEEE, April 2014
2013
AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots
Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.
IEEE International Symposium on Safety, Security, and Rescue Robotics, pages: 1-4, Linköping, 2013
Fusing visual and tactile sensing for 3-D object reconstruction while grasping
Ilonen, J., Bohg, J., Kyrki, V.
IEEE International Conference on Robotics and Automation (ICRA), pages: 3547-3554, 2013
Probabilistic Object Tracking Using a Range Camera
Wüthrich, M., Pastor, P., Kalakrishnan, M., Bohg, J., Schaal, S.
IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3195-3202, IEEE, November 2013
3-D Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing
Illonen, J., Bohg, J., Kyrki, V.
The International Journal of Robotics Research, 33(2):321-341, Sage, October 2013
2012
Task-Based Grasp Adaptation on a Humanoid Robot
Bohg, Jeannette, Welke, Kai, León, Beatriz, Do, Martin, Song, Dan, Wohlkinger, Walter, Aldoma, Aitor, Madry, Marianna, Przybylski, Markus, Asfour, Tamim, Marti, Higinio, Kragic, Danica, Morales, Antonio, Vincze, Markus
10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012, pages: 779-786, 2012
Visual Servoing on Unknown Objects
Gratal, X., Romero, J., Bohg, J., Kragic, D.
Mechatronics, 22(4):423-435, Elsevier, June 2012, Visual Servoing (SI)
2011
Multi-Modal Scene Understanding for Robotic Grasping
Bohg, J.
(2011:17):vi, 194, Trita-CSC-A, KTH Royal Institute of Technology, KTH, Computer Vision and Active Perception, CVAP, Centre for Autonomous Systems, CAS, KTH, Centre for Autonomous Systems, CAS, December 2011
Mind the gap - robotic grasping under incomplete observation
Bohg, J., Johnson-Roberson, M., Leon, B., Felip, J., Gratal, X., Bergstrom, N., Kragic, D., Morales, A.
Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 686-693, May 2011
Enhanced visual scene understanding through human-robot dialog
Johnson-Roberson, M., Bohg, J., Skantze, G., Gustafson, J., Carlson, R., Rasolzadeh, B., Kragic, D.
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 3342-3348, 2011
2010
Enhanced Visual Scene Understanding through Human-Robot Dialog
Johnson-Roberson, M., Bohg, J., Kragic, D., Skantze, G., Gustafson, J., Carlson, R.
Proceedings of AAAI 2010 Fall Symposium: Dialog with Robots, November 2010
Scene Representation and Object Grasping Using Active Vision
Gratal, X., Bohg, J., Björkman, M., Kragic, D.
IROS’10 Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics, October 2010
Learning Grasping Points with Shape Context
Bohg, J., Kragic, D.
Robotics and Autonomous Systems, 58(4):362-377, North-Holland Publishing Co., Amsterdam, The Netherlands, April 2010
Attention-based active 3D point cloud segmentation
Johnson-Roberson, M., Bohg, J., Björkman, M., Kragic, D.
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pages: 1165-1170, October 2010
Strategies for multi-modal scene exploration
Bohg, J., Johnson-Roberson, M., Björkman, M., Kragic, D.
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pages: 4509-4515, October 2010
OpenGRASP: A Toolkit for Robot Grasping Simulation
León, B., Ulbrich, S., Diankov, R., Puche, G., Przybylski, M., Morales, A., Asfour, T., Moisio, S., Bohg, J., Kuffner, J., Dillmann, R.
SIMPAR 2010: Simulation, Modeling, and Programming for Autonomous Robots, pages: 109-120, 2010 (Best Paper Award)
2009
Towards Grasp-Oriented Visual Perception of Humanoid Robots
Bohg, J., Barck-Holst, C., Huebner, K., Ralph, M., Rasolzadeh, B., Song, D., Kragic, D.
International Journal of Humanoid Robotics, 06(03):387-434, 2009.
Grasping familiar objects using shape context
Bohg, J., Kragic, D.
Advanced Robotics, 2009. ICAR 2009. International Conference on, pages: 1-6, 2009.
Integration of Visual Cues for Robotic Grasping
Bergström, N., Bohg, J., Kragic, D.
Computer Vision Systems, 5815, pages: 245-254, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2009.