2024
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
Luis Felipe Casas Murrilo*, Ninad Khargonkar*, Balakrishnan Prabhakaran, Yu Xiang (*equal contribution)
In arXiv, 2024.
arXiv, Project, Code
Grasping Trajectory Optimization with Point Clouds
Yu Xiang, Sai Haneesh Allu, Rohith Peddi, Tyler Summers, Vibhav Gogate
In arXiv, 2024.
arXiv, Project, Code
Segment Every Out-of-Distribution Object
Wenjie Zhao, Jia Li, Xin Dong, Yu Xiang, Yunhui Guo
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2024.
arXiv, Code
SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Reproducible Scenes
Ninad Khargonkar*, Sai Haneesh Allu*, Yangxiao Lu, Jishnu Jaykumar P, Balakrishnan Prabhakaran, Yu Xiang (*equal contribution)
In International Conference on Robotics and Automation (ICRA), 2024.
arXiv, Project, Code
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features
Howard H. Qian, Yangxiao Lu, Kejia Ren, Gaotian Wang, Ninad Khargonkar, Yu Xiang, Kaiyu Hang
In International Conference on Robotics and Automation (ICRA), 2024.
arXiv, PDF, Video
Mean Shift Mask Transformer for Unseen Object Instance Segmentation
Yangxiao Lu, Yuqiao Chen, Nicholas Ruozzi, Yu Xiang
In International Conference on Robotics and Automation (ICRA), 2024.
arXiv, Code, Project
Deep Dependency Networks and Advanced Inference Schemes for Multi-Label
Classification
Shivvrat Arya, Yu Xiang, Vibhav Gogate
In International Conference on Artificial Intelligence and Statistics (AISTATS), 2024.
arXiv, PDF
2023
CaptainCook4D: A Dataset for Understanding Errors in Procedural Activities
Rohith Peddi, Shivvrat Arya, Bharath Challa, Likhitha Pallapothula, Akshay Vyas, Jikai Wang, Qifan Zhang, Vasundhara Komaragiri, Eric Ragan, Nicholas Ruozzi, Yu Xiang, Vibhav Gogate
In Data-centric Machine Learning Research (DMLR) Workshop @ ICML 2023.
arXiv, Project
PROTO-CLIP: Vision-Language Prototypical Network for Few-Shot Learning
Jishnu Jaykumar P, Kamalesh Palanisamy, Yu-Wei Chao, Xinya Du, Yu Xiang
In arXiv, 2023.
arXiv, Project
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction
Yangxiao Lu, Ninad Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
In Robotics: Science and Systems (RSS), 2023.
arXiv, Project, Media
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
In International Conference on Robotics and Automation (ICRA), 2023.
arXiv, Project
2022
NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands
Ninad Khargonkar, Neil Song, Zesheng Xu, Balakrishnan Prabhakaran, Yu Xiang
In Conference on Robot Learning (CoRL), 2022.
arXiv, Project
Few-shot Single-view 3D Reconstruction with Memory Prior Contrastive Network
Zhen Xing, Yijiang Chen, Zhixin Ling, Xiangdong Zhou, Yu Xiang
In European Conference on Computer Vision (ECCV), 2022.
arXiv
TALISMAN: Targeted Active Learning for Object Detection with Rare Classes
and Slices using Submodular Mutual Information
Suraj Kothawade, Saikat Ghosh, Sumit Shekar, Yu Xiang, Rishabh Iyer
In European Conference on Computer Vision (ECCV), 2022.
arXiv, Code
HandoverSim: A Simulation Framework and Benchmark for Human-To-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
In International Conference on Robotics and Automation (ICRA) , 2022.
arXiv, Project
Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans
Lirui Wang, Xiangyun Meng, Yu Xiang and Dieter Fox
In IEEE Robotics and Automation Letters (RA-L), 2022.
arXiv, Project, Code
iCaps: Iterative Category-level Object Pose and Shape Estimation
Xinke Deng*, Junyi Geng*, Timothy Bretl, Yu Xiang and Dieter Fox (*equal contribution)
In IEEE Robotics and Automation Letters (RA-L), 2022.
arXiv, Video, Code
2021 (Before Prof. Yu Xiang joining UTD)
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
Christopher Xie, Arsalan Mousavian, Yu Xiang and Dieter Fox
In Conference on Robot Learning (CoRL), 2021.
arXiv, OpenReview, Code
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian and Dieter Fox
In Conference on Robot Learning (CoRL), 2021.
arXiv, OpenReview, Project, Code
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz and Dieter Fox
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
arXiv, PDF, Supplementary, Project
RGB-D Local Implicit Function for Depth Completion of Transparent Objects
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath and Dieter Fox
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
arXiv, PDF, Supplementary, Project
Learning Composable Behavior Embeddings for Long-horizon Visual Navigation
Xiangyun Meng, Yu Xiang and Dieter Fox
In IEEE Robotics and Automation Letters (RA-L), 2021.
arXiv, PDF, Project
Unseen Object Instance Segmentation for Robotic Environments
Christopher Xie, Yu Xiang, Arsalan Mousavian and Dieter Fox
In IEEE Transactions on Robotics (T-RO), 2021.
arXiv, Project, Code
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl and Dieter Fox
In IEEE Transactions on Robotics (T-RO), 2021.
PDF, Video, Code
2020
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
Yu Xiang, Christopher Xie, Arsalan Mousavian and Dieter Fox
In Conference on Robot Learning (CoRL), 2020.
arXiv, PDF, Video, Code
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
Lirui Wang, Yu Xiang and Dieter Fox
In Robotics: Science and Systems (RSS), 2020.
arXiv, PDF, Video, Project, Code
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation
Keunhong Park, Arsalan Mousavian, Yu Xiang and Dieter Fox
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
arXiv, PDF, Project, Code
Scaling Local Control to Large-Scale Topological Navigation
Xiangyun Meng, Nathan Ratliff, Yu Xiang and Dieter Fox
In International Conference on Robotics and Automation (ICRA), 2020.
arXiv, PDF, Video, Project
Self-supervised 6D Object Pose Estimation for Robot Manipulation
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl and Dieter Fox
In International Conference on Robotics and Automation (ICRA), 2020.
arXiv, PDF, Video
2019
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation
Christopher Xie, Yu Xiang, Arsalan Mousavian and Dieter Fox
In Conference on Robot Learning (CoRL), 2019.
arXiv, PDF, Video, Project, Code
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl and Dieter Fox
In Robotics: Science and Systems (RSS), 2019.
arXiv, PDF, Video, Code
Object Discovery in Videos as Foreground Motion Clustering
Christopher Xie, Yu Xiang, Zaid Harchaoui and Dieter Fox
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.
arXiv, PDF, Video
Neural Autonomous Navigation with Riemannian Motion Policy
Xiangyun Meng, Nathan Ratliff, Yu Xiang and Dieter Fox
In International Conference on Robotics and Automation (ICRA), 2019.
arXiv, PDF, Poster, Project
2018
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox and Stan Birchfield
In Conference on Robot Learning (CoRL), 2018.
arXiv, Project, Code
DeepIM: Deep Iterative Matching for 6D Pose Estimation
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang and Dieter Fox
In European Conference on Computer Vision (ECCV), 2018.
arXiv, PDF, Technical_Report, Project, IJCV_Version, Code MXNet, Code PyTorch (Oral)
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan and Dieter Fox
In Robotics: Science and Systems (RSS), 2018.
arXiv, PDF, Code TensorFlow, Code PyTorch, Project
Recurrent Autoregressive Networks for Online Multi-Object Tracking
Kuan Fang, Yu Xiang, Xiaocheng Li and Silvio Savarese
In IEEE Winter Conference on Applications of Computer Vision (WACV), 2018.
arXiv, PDF, Poster, Slides
2017
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks
Yu Xiang and Dieter Fox
In Robotics: Science and Systems (RSS), 2017.
arXiv, PDF, Poster, Slides, Code, Project
Subcategory-aware Convolutional Neural Networks for Object Proposals and Detection
Yu Xiang, Wongun Choi, Yuanqing Lin and Silvio Savarese
In IEEE Winter Conference on Applications of Computer Vision (WACV), 2017.
arXiv, PDF, Technical_Report, Poster, Slides, KITTI_Results
2016
Anticipating Accidents in Dashcam Videos
Fu-Hsiang Chan, Yu-Ting Chen, Yu Xiang and Min Sun
In Asian Conference on Computer Vision (ACCV), 2016.
PDF, Project (Oral)
ObjectNet3D: A Large Scale Database for 3D Object Recognition
Yu Xiang, Wonhui Kim, Wei Chen, Jingwei Ji, Christopher Choy, Hao Su, Roozbeh Mottaghi, Leonidas Guibas and Silvio Savarese
In European Conference on Computer Vision (ECCV), pp. 160-176, 2016.
PDF, Technical_Report, Poster, Slides, ObjectNet3D (Spotlight Oral)
Pose Estimation Errors, the Ultimate Diagnosis
Carolina Redondo-Cabrera, Roberto López-Sastre, Yu Xiang, Tinne Tuytelaars and Silvio Savarese
In European Conference on Computer Vision (ECCV), pp. 118-134, 2016.
PDF, Code
Deep Metric Learning via Lifted Structured Feature Embedding
Hyun Oh Song, Yu Xiang, Stefanie Jegelka and Silvio Savarese
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 4004-4012, 2016.
arXiv, PDF, Technical_Report, Code, Project (Spotlight Oral)
2015
Learning to Track: Online Multi-Object Tracking by Decision Making
Yu Xiang, Alexandre Alahi and Silvio Savarese
In International Conference on Computer Vision (ICCV), pp. 4705-4713, 2015.
PDF, Technical_Report, Poster, Slides, MOT_Results, KITTI_Results, Code, Project (Oral)
Data-Driven 3D Voxel Patterns for Object Category Recognition
Yu Xiang, Wongun Choi, Yuanqing Lin and Silvio Savarese
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1903-1911, 2015.
PDF, Technical_Report, Poster, Slides, KITTI_Results, Code, Project (Oral)
A Coarse-to-Fine Model for 3D Pose Estimation and Sub-category Recognition
Roozbeh Mottaghi, Yu Xiang and Silvio Savarese
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 418-426, 2015.
PDF, Technical_Report, Poster, Project
2014
Monocular Multiview Object Tracking with 3D Aspect Parts
Yu Xiang*, Changkyu Song*, Roozbeh Mottaghi and Silvio Savarese (*equal contribution)
In European Conference on Computer Vision (ECCV), pp. 220-235, 2014.
PDF, Technical_Report, Poster, Slides, Code, Project
Beyond PASCAL: A Benchmark for 3D Object Detection in the Wild
Yu Xiang, Roozbeh Mottaghi and Silvio Savarese
In IEEE Winter Conference on Applications of Computer Vision (WACV), pp. 75-82, 2014.
PDF, Poster, Slides, PASCAL3D+
2013
Object Detection by 3D Aspectlets and Occlusion Reasoning
Yu Xiang and Silvio Savarese
In the 4th International IEEE Workshop on 3D Representation and Recognition in ICCV (3dRR), pp. 530-537, 2013.
PDF, Technical_Report, Slides, Code, Project
2012
Object Co-detection
Sid Yingze Bao, Yu Xiang and Silvio Savarese
In European Conference on Computer Vision (ECCV), vol. 7572, pp. 86-101, 2012.
PDF, Poster, Slides, Project
Estimating the Aspect Layout of Object Categories
Yu Xiang and Silvio Savarese
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3410-3417, 2012.
PDF, Technical Report, Poster, Slides, Code, Project
2010
Semantic Context Modeling with Maximal Margin Conditional Random Fields for Automatic Image Annotation
Yu Xiang, Xiangdong Zhou, Zuotao Liu, Tat-Seng Chua and Chong-Wah Ngo
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3368-3375, 2010.
PDF, Technical Report
Learning Contextual Metrics for Automatic Image Annotation
Zuotao Liu, Xiangdong Zhou, Yu Xiang and Yan-Tao Zheng
In Advances in Multimedia Information Processing – PCM, vol. 6297, pp. 124-135, 2010.
PDF
2009
A Revisit of Generative Model for Automatic Image Annotation using Markov Random Fields
Yu Xiang, Xiangdong Zhou, Tat-Seng Chua and Chong-Wah Ngo
In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1153-1160, 2009.
PDF
Adaptive Model for Web Image Semantic Automatic Image Annotation
Hongtao Xu, Xiangdong Zhou, Yu Xiang and Baile Shi
In Journal of Software (in Chinese), vol. 21, no. 9, pp. 2183-2195, 2009.
PDF
Exploiting Flickr’s Related Tags for Semantic Annotation of Web Images
Hongtao Xu, Xiangdong Zhou, Mei Wang, Yu Xiang and Baile Shi
In Proceedings of the ACM International Conference on Image and Video Retrieval (CIVR), no. 46, 2009.
PDF
Automatic Web Image Annotation via Web-Scale Image Semantic Space Learning
Hongtao Xu, Xiangdong Zhou, Lan Lin, Yu Xiang and Baile Shi
In Advances in Data and Web Management, vol. 5446, pp. 211-222, 2009.
PDF