Yu Xiang

87 papers A* 14A 6Misc 6Journal 54Unranked 7
YearRankTypeTitle / Venue / Authors
2026 J jnl
From Local Matches to Global Masks: Novel Instance Detection in Open-World Scenes.
CoRR
Qifan Zhang, Sai Haneesh Allu, Jikai Wang, Yangxiao Lu, Yu Xiang
2026 J jnl
MotionBits: Video Segmentation through Motion-Level Analysis of Rigid Bodies.
CoRR
Howard H. Qian, Kejia Ren, Yu Xiang, Vicente Ordonez, Kaiyu Hang
2026 J jnl
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons.
CoRR
Anthony Liang, Yigit Korkmaz, Jiahui Zhang, Minyoung Hwang, Abrar Anwar, Sidhant Kaushik, Aditya Shah, Alex S. Huang, Luke Zettlemoyer, Dieter Fox, Yu Xiang, Anqi Li, Andreea Bobu, Abhishek Gupta, Stephen Tu, Erdem Biyik, Jesse Zhang
2026 J jnl
Towards Spatio-Temporal World Scene Graph Generation from Monocular Videos.
CoRR
Rohith Peddi, Saurabh, Shravan Shanmugam, Likhitha Pallapothula, Yu Xiang, Parag Singla, Vibhav Gogate
2025 A conf
Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentation.
IROS
Yangxiao Lu, Jishnu Jaykumar P, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2025 J jnl
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation.
CoRR
Sai Haneesh Allu, Jishnu Jaykumar P, Ninad Khargonkar, Tyler Summers, Jian Yao, Yu Xiang
2025 J jnl
Motion Planning with Precedence Specifications via Augmented Graphs of Convex Sets.
CoRR
Shilin You, Gael Luna, Juned Shaikh, David Gostin, Yu Xiang, Justin Koeln, Tyler H. Summers
2025 J jnl
Multimodal Reference Visual Grounding.
CoRR
Yangxiao Lu, Ruosen Li, Liqiang Jing, Jikai Wang, Xinya Du, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2025 A conf
RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis and Transfer.
IROS
Ninad Khargonkar, Luis Felipe Casas, Balakrishnan Prabhakaran, Yu Xiang
2024 J jnl
Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentation.
CoRR
Yangxiao Lu, Jishnu Jaykumar P, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2024 J jnl
Autonomous Exploration and Semantic Updating of Large-Scale Indoor Environments with Mobile Robots.
CoRR
Sai Haneesh Allu, Itay Kadosh, Tyler H. Summers, Yu Xiang
2024 A* conf
CaptainCook4D: A Dataset for Understanding Errors in Procedural Activities.
NeurIPS
Rohith Peddi, Shivvrat Arya, Bharath Challa, Likhitha Pallapothula, Akshay Vyas, Bhavya Gouripeddi, Qifan Zhang, Jikai Wang, Vasundhara Komaragiri, Eric D. Ragan, Nicholas Ruozzi, Yu Xiang, Vibhav Gogate
2024 J jnl
Continual Distillation Learning.
CoRR
Qifan Zhang, Yunhui Guo, Yu Xiang
2024 A conf
Deep Dependency Networks and Advanced Inference Schemes for Multi-Label Classification.
AISTATS
Shivvrat Arya, Yu Xiang, Vibhav Gogate
2024 J jnl
Deep Dependency Networks and Advanced Inference Schemes for Multi-Label Classification.
CoRR
Shivvrat Arya, Yu Xiang, Vibhav Gogate
2024 A conf
Grasping Trajectory Optimization with Point Clouds.
IROS
Yu Xiang, Sai Haneesh Allu, Rohith Peddi, Tyler H. Summers, Vibhav Gogate
2024 J jnl
Grasping Trajectory Optimization with Point Clouds.
CoRR
Yu Xiang, Sai Haneesh Allu, Rohith Peddi, Tyler H. Summers, Vibhav Gogate
2024 J jnl
HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interaction.
CoRR
Jikai Wang, Qifan Zhang, Yu-Wei Chao, Bowen Wen, Xiaohu Guo, Yu Xiang
2024 A* conf
Mean Shift Mask Transformer for Unseen Object Instance Segmentation.
ICRA
Yangxiao Lu, Yuqiao Chen, Nicholas Ruozzi, Yu Xiang
2024 A conf
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands.
IROS
Luis Felipe Casas Murillo, Ninad Khargonkar, Balakrishnan Prabhakaran, Yu Xiang
2024 J jnl
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands.
CoRR
Luis Felipe Casas Murillo, Ninad Khargonkar, Balakrishnan Prabhakaran, Yu Xiang
2024 — conf
Predictive Task Guidance with Artificial Intelligence in Augmented Reality.
VR Workshops
Benjamin Rheault, Shivvrat Arya, Akshay Vyas, Jikai Wang, Rohith Peddi, Brett Benda, Vibhav Gogate, Nicholas Ruozzi, Yu Xiang, Eric D. Ragan
2024 A conf
Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning.
IROS
Jishnu Jaykumar P, Kamalesh Palanisamy, Yu-Wei Chao, Xinya Du, Yu Xiang
2024 A* conf
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features.
ICRA
Howard H. Qian, Yangxiao Lu, Kejia Ren, Gaotian Wang, Ninad Khargonkar, Yu Xiang, Kaiyu Hang
2024 J jnl
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features.
CoRR
Howard H. Qian, Yangxiao Lu, Kejia Ren, Gaotian Wang, Ninad Khargonkar, Yu Xiang, Kaiyu Hang
2024 J jnl
RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis.
CoRR
Ninad Khargonkar, Luis Felipe Casas Murillo, Balakrishnan Prabhakaran, Yu Xiang
2024 A* conf
SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes.
ICRA
Ninad Khargonkar, Sai Haneesh Allu, Yangxiao Lu, Jishnu Jaykumar P, Balakrishnan Prabhakaran, Yu Xiang
2024 A* conf
Segment Every Out-of-Distribution Object.
CVPR
Wenjie Zhao, Jia Li, Xin Dong, Yu Xiang, Yunhui Guo
2024 J jnl
iTeach: Interactive Teaching for Robot Perception using Mixed Reality.
CoRR
Jishnu Jaykumar P, Cole Salvato, Vinaya Bomnale, Jikai Wang, Yu Xiang
2023 J jnl
CaptainCook4D: A dataset for understanding errors in procedural activities.
CoRR
Rohith Peddi, Shivvrat Arya, Bharath Challa, Likhitha Pallapothula, Akshay Vyas, Jikai Wang, Qifan Zhang, Vasundhara Komaragiri, Eric D. Ragan, Nicholas Ruozzi, Yu Xiang, Vibhav Gogate
2023 J jnl
Deep Dependency Networks for Multi-Label Classification.
CoRR
Shivvrat Arya, Yu Xiang, Vibhav Gogate
2023 A* conf
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments.
ICRA
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
2023 J jnl
Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning.
CoRR
Jishnu Jaykumar P, Kamalesh Palanisamy, Yu-Wei Chao, Xinya Du, Yu Xiang
2023 J jnl
SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Reproducible Scenes.
CoRR
Ninad Khargonkar, Sai Haneesh Allu, Yangxiao Lu, Jishnu Jaykumar P, Balakrishnan Prabhakaran, Yu Xiang
2023 J jnl
Segment Every Out-of-Distribution Object.
CoRR
Wenjie Zhao, Jia Li, Xin Dong, Yu Xiang, Yunhui Guo
2023 — conf
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction.
Robotics: Science and Systems
Yangxiao Lu, Ninad A. Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2023 J jnl
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction.
CoRR
Yangxiao Lu, Ninad Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang, Yunhui Guo, Nicholas Ruozzi, Yu Xiang
2022 J jnl
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments.
CoRR
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
2022 A* conf
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers.
ICRA
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
2022 J jnl
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers.
CoRR
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
2022 J jnl
Hierarchical Policies for Cluttered-Scene Grasping With Latent Plans.
IEEE Robotics Autom. Lett.
Lirui Wang, Xiangyun Meng, Yu Xiang, Dieter Fox
2022 J jnl
Mean Shift Mask Transformer for Unseen Object Instance Segmentation.
CoRR
Yangxiao Lu, Yuqiao Chen, Nicholas Ruozzi, Yu Xiang
2022 Misc conf
NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands.
CoRL
Ninad Khargonkar, Neil Song, Zesheng Xu, B. Prabhakaran, Yu Xiang
2022 J jnl
NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands.
CoRR
Ninad Khargonkar, Neil Song, Zesheng Xu, Balakrishnan Prabhakaran, Yu Xiang
2022 J jnl
iCaps: Iterative Category-Level Object Pose and Shape Estimation.
IEEE Robotics Autom. Lett.
Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox
2022 J jnl
iCaps: Iterative Category-level Object Pose and Shape Estimation.
CoRR
Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox
2021 A* conf
DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
CVPR
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
2021 J jnl
DexYCB: A Benchmark for Capturing Hand Grasping of Objects.
CoRR
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, Dieter Fox
2021 Misc conf
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds.
CoRL
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
2021 J jnl
Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans.
CoRR
Lirui Wang, Yu Xiang, Dieter Fox
2021 J jnl
Learning Composable Behavior Embeddings for Long-Horizon Visual Navigation.
IEEE Robotics Autom. Lett.
Xiangyun Meng, Yu Xiang, Dieter Fox
2021 J jnl
Learning Composable Behavior Embeddings for Long-horizon Visual Navigation.
CoRR
Xiangyun Meng, Yu Xiang, Dieter Fox
2021 J jnl
PoseRBPF: A Rao-Blackwellized Particle Filter for 6-D Object Pose Tracking.
IEEE Trans. Robotics
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, Dieter Fox
2021 A* conf
RGB-D Local Implicit Function for Depth Completion of Transparent Objects.
CVPR
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox
2021 J jnl
RGB-D Local Implicit Function for Depth Completion of Transparent Objects.
CoRR
Luyang Zhu, Arsalan Mousavian, Yu Xiang, Hammad Mazhar, Jozef van Eenbergen, Shoubhik Debnath, Dieter Fox
2021 Misc conf
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks.
CoRL
Chris Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox
2021 J jnl
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks.
CoRR
Christopher Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox
2021 J jnl
Unseen Object Instance Segmentation for Robotic Environments.
IEEE Trans. Robotics
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox
2020 J jnl
DeepIM: Deep Iterative Matching for 6D Pose Estimation.
Int. J. Comput. Vis.
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox
2020 J jnl
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds.
CoRR
Lirui Wang, Yu Xiang, Dieter Fox
2020 A* conf
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation.
CVPR
Keunhong Park, Arsalan Mousavian, Yu Xiang, Dieter Fox
2020 Misc conf
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation.
CoRL
Yu Xiang, Christopher Xie, Arsalan Mousavian, Dieter Fox
2020 J jnl
Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation.
CoRR
Yu Xiang, Christopher Xie, Arsalan Mousavian, Dieter Fox
2020 — conf
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection.
Robotics: Science and Systems
Lirui Wang, Yu Xiang, Dieter Fox
2020 A* conf
Scaling Local Control to Large-Scale Topological Navigation.
ICRA
Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2020 A* conf
Self-supervised 6D Object Pose Estimation for Robot Manipulation.
ICRA
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox
2020 J jnl
Unseen Object Instance Segmentation for Robotic Environments.
CoRR
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox
2019 J jnl
LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation.
CoRR
Keunhong Park, Arsalan Mousavian, Yu Xiang, Dieter Fox
2019 J jnl
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection.
CoRR
Lirui Wang, Yu Xiang, Dieter Fox
2019 A* conf
Neural Autonomous Navigation with Riemannian Motion Policy.
ICRA
Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019 J jnl
Neural Autonomous Navigation with Riemannian Motion Policy.
CoRR
Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019 A* conf
Object Discovery in Videos as Foreground Motion Clustering.
CVPR
Christopher Xie, Yu Xiang, Zaïd Harchaoui, Dieter Fox
2019 J jnl
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking.
CoRR
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, Dieter Fox
2019 — conf
PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation.
Robotics: Science and Systems
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, Dieter Fox
2019 J jnl
Scaling Local Control to Large-Scale Topological Navigation.
CoRR
Xiangyun Meng, Nathan D. Ratliff, Yu Xiang, Dieter Fox
2019 J jnl
Self-supervised 6D Object Pose Estimation for Robot Manipulation.
CoRR
Xinke Deng, Yu Xiang, Arsalan Mousavian, Clemens Eppner, Timothy Bretl, Dieter Fox
2019 Misc conf
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation.
CoRL
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox
2019 J jnl
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation.
CoRR
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox
2018 Misc conf
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects.
CoRL
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
2018 J jnl
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects.
CoRR
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
2018 — conf
DeepIM: Deep Iterative Matching for 6D Pose Estimation.
ECCV (6)
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox
2018 J jnl
DeepIM: Deep Iterative Matching for 6D Pose Estimation.
CoRR
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox
2018 J jnl
Object Discovery in Videos as Foreground Motion Clustering.
CoRR
Christopher Xie, Yu Xiang, Dieter Fox, Zaïd Harchaoui
2018 — conf
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes.
Robotics: Science and Systems
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox
2017 — conf
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks.
Robotics: Science and Systems
Yu Xiang, Dieter Fox
2017 J jnl
DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks.
CoRR
Yu Xiang, Dieter Fox
2017 J jnl
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes.
CoRR
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox