Showing 50 publications by Ingmar Posner
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@misc{offlineadaptati-2024/11,
title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
year = "2024"
}
A Review of Differentiable Simulators
Newbury R, Collins J, He K, Pan J, Posner I et al. (2024), IEEE Access, PP(99), 1-1
BibTeX
@article{areviewofdiffer-2024/7,
title={A Review of Differentiable Simulators},
author={Newbury R, Collins J, He K, Pan J, Posner I et al.},
journal={IEEE Access},
volume={PP},
pages={1-1},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
year = "2024"
}
Oscillating latent dynamics in robot systems during walking and reaching
Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al. (2024), Scientific Reports, 14(1)
BibTeX
@article{oscillatinglate-2024/5,
title={Oscillating latent dynamics in robot systems during walking and reaching},
author={Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al.},
journal={Scientific Reports},
volume={14},
number={11434},
publisher={Springer Nature},
year = "2024"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (2024)
BibTeX
@misc{gaitorlearninga-2024/5,
title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
year = "2024"
}
TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfer
Yamada J, Rigter M, Collins J & Posner I (2024), 00, 9190-9196
BibTeX
@inproceedings{twistteacherstu-2024/5,
title={TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfer},
author={Yamada J, Rigter M, Collins J & Posner I},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages={9190-9196},
year = "2024"
}
Neural latent geometry search: product manifold inference via Gromov-Hausdorff-informed Bayesian optimization
S??ez de Oc??riz Borde H, Arroyo ??, Morales L??pez I, Posner I & Dong X (2024), Advances in Neural Information Processing Systems 36 (NeurIPS 2023)
BibTeX
@inproceedings{neurallatentgeo-2024/2,
title={Neural latent geometry search: product manifold inference via Gromov-Hausdorff-informed Bayesian optimization
},
author={S??ez de Oc??riz Borde H, Arroyo ??, Morales L??pez I, Posner I & Dong X},
booktitle={37th Annual Conference on Neural Information Processing Systems (NeurIPS 2023)},
year = "2024"
}
DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer
Wu Y, Saez de Ocariz Borde H, Collins J, Jones OP & Posner I (2024), IEEE Robotics and Automation Letters
BibTeX
@article{dreamupdobjectc-2024/1,
title={DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer},
author={Wu Y, Saez de Ocariz Borde H, Collins J, Jones OP & Posner I},
journal={IEEE Robotics and Automation Letters},
year = "2024"
}
Efficient Skill Acquisition for Insertion Tasks in Obstructed Environments
Yamada J, Collins J & Posner I (2024), Proceedings of Machine Learning Research, 242, 615-627
BibTeX
@inproceedings{efficientskilla-2024/1,
title={Efficient Skill Acquisition for Insertion Tasks in Obstructed Environments},
author={Yamada J, Collins J & Posner I},
pages={615-627},
year = "2024"
}
REWARD-FREE CURRICULA FOR TRAINING ROBUST WORLD MODELS
Rigter M, Jiang M & Posner I (2024), 12th International Conference on Learning Representations, ICLR 2024
BibTeX
@inproceedings{rewardfreecurri-2024/1,
title={REWARD-FREE CURRICULA FOR TRAINING ROBUST WORLD MODELS},
author={Rigter M, Jiang M & Posner I},
year = "2024"
}
AutoGraph: predicting lane graphs from traffic observations
Zurn J, Posner I & Burgard W (2023), IEEE Robotics and Automation Letters, 9(1), 73-80
BibTeX
@article{autographpredic-2023/11,
title={AutoGraph: predicting lane graphs from traffic observations},
author={Zurn J, Posner I & Burgard W},
journal={IEEE Robotics and Automation Letters},
volume={9},
pages={73-80},
publisher={IEEE},
year = "2023"
}
RAMP: a benchmark for evaluating robotic assembly manipulation and planning
Collins J, Robson M, Yamada J, Sridharan M, Janik K et al. (2023), IEEE Robotics and Automation Letters, 9(1), 9-16
BibTeX
@article{rampabenchmarkf-2023/11,
title={RAMP: a benchmark for evaluating robotic assembly manipulation and planning},
author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
journal={IEEE Robotics and Automation Letters},
volume={9},
pages={9-16},
publisher={IEEE},
year = "2023"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
BibTeX
@article{vaelocoversatil-2023/7,
title={VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation},
author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
journal={IEEE Transactions on Robotics},
volume={39},
pages={3805-3820},
publisher={IEEE},
year = "2023"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/7,
title={Leveraging scene embeddings for gradient-based motion planning in latent space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5674-5680},
year = "2023"
}
RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning
Collins J, Robson M, Yamada J, Sridharan M, Janik K et al. (2023)
BibTeX
@misc{rampabenchmarkf-2023/5,
title={RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and
Planning},
author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023)
BibTeX
@misc{youonlylookaton-2023/5,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
year = "2023"
}
Touching a NeRF: leveraging neural radiance fields for tactile sensory data generation
Zhong S, Albini A, Parker Jones O, Maiolino P & Posner H (2023), 205, 1618-1628
BibTeX
@inproceedings{touchinganerfle-2023/3,
title={Touching a NeRF: leveraging neural radiance fields for tactile sensory data generation},
author={Zhong S, Albini A, Parker Jones O, Maiolino P & Posner H},
booktitle={7th Annual Conference on Robot Learning (CoRL 2023)},
pages={1618-1628},
year = "2023"
}
Projections of model spaces for latent graph inference
Posner H, Arroyo A & S??ez De Oc??riz Borde H (2023), Proceedings of the ICLR 2023 Workshop on Physics for Machine Learning
BibTeX
@inproceedings{projectionsofmo-2023/3,
title={Projections of model spaces for latent graph inference},
author={Posner H, Arroyo A & S??ez De Oc??riz Borde H},
booktitle={ICLR 2023 Workshop on Physics for Machine Learning},
year = "2023"
}
You only look at one: category-level object representations for pose estimation from a single example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of The 6th Conference on Robot Learning, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/3,
title={You only look at one: category-level object representations for pose estimation from a single example},
author={Goodwin W, Havoutis I & Posner I},
booktitle={6th Conference on Robot Learning (CoRL 2022)},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung C-M, Collins J, Havoutis I & Posner I (2023)
BibTeX
@misc{leveragingscene-2023/3,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
year = "2023"
}
DITTO: Offline Imitation Learning with World Models
DeMoss B, Duckworth P, Hawes N & Posner I (2023)
BibTeX
@misc{dittoofflineimi-2023/2,
title={DITTO: Offline Imitation Learning with World Models},
author={DeMoss B, Duckworth P, Hawes N & Posner I},
year = "2023"
}
Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation
Zhong S, Albini A, Jones OP, Maiolino P & Posner I (2023), Proceedings of Machine Learning Research, 205, 1618-1628
BibTeX
@inproceedings{touchinganerfle-2023/1,
title={Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation},
author={Zhong S, Albini A, Jones OP, Maiolino P & Posner I},
pages={1618-1628},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of Machine Learning Research, 205, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/1,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), Proceedings - IEEE International Conference on Robotics and Automation, 2023-May, 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/1,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
pages={5674-5680},
year = "2023"
}
AutoGraph: Predicting Lane Graphs From Traffic Observations
Zurn J, Posner I & Burgard W (2023), IEEE Robotics and Automation Letters
BibTeX
@article{autographpredic-2023/1,
title={AutoGraph: Predicting Lane Graphs From Traffic Observations},
author={Zurn J, Posner I & Burgard W},
journal={IEEE Robotics and Automation Letters},
year = "2023"
}
RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning
Collins J, Robson M, Yamada J, Sridharan M, Janik K et al. (2023), IEEE Robotics and Automation Letters
BibTeX
@article{rampabenchmarkf-2023/1,
title={RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning},
author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
journal={IEEE Robotics and Automation Letters},
year = "2023"
}
From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control
Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al. (2023)
BibTeX
@inproceedings{fromprimatestor-2023/1,
title={From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control},
author={Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al.},
booktitle={2023 Conference on Cognitive Computational Neuroscience},
year = "2023"
}
PRIORS, HIERARCHY, AND INFORMATION ASYMMETRY FOR SKILL TRANSFER IN REINFORCEMENT LEARNING
Salter S, Hartikainen K, Goodwin W & Posner I (2023), 11th International Conference on Learning Representations, ICLR 2023
BibTeX
@inproceedings{priorshierarchy-2023/1,
title={PRIORS, HIERARCHY, AND INFORMATION ASYMMETRY FOR SKILL TRANSFER IN REINFORCEMENT LEARNING},
author={Salter S, Hartikainen K, Goodwin W & Posner I},
year = "2023"
}
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE TRANSACTIONS ON ROBOTICS
BibTeX
@article{vaelocoversatil-2023/,
title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
journal={IEEE TRANSACTIONS ON ROBOTICS},
year = "2023"
}
Zero-shot category-level object pose estimation
Goodwin W, Vaze S, Havoutis I & Posner I (2022)(13699), 516-532
BibTeX
@inproceedings{zeroshotcategor-2022/10,
title={Zero-shot category-level object pose estimation},
author={Goodwin W, Vaze S, Havoutis I & Posner I},
booktitle={17th European Conference on Computer Vision (ECCV 2022)},
pages={516-532},
year = "2022"
}
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation
Hung C-M, Zhong S, Goodwin W, Jones OP, Engelcke M et al. (2022)
BibTeX
@misc{reachingthrough-2022/10,
title={Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation},
author={Hung C-M, Zhong S, Goodwin W, Jones OP, Engelcke M et al.},
year = "2022"
}
Next steps: learning a disentangled gait representation for versatile quadruped locomotion
Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al. (2022), 2022 International Conference on Robotics and Automation (ICRA), 10564-10570
BibTeX
@inproceedings{nextstepslearni-2022/7,
title={Next steps: learning a disentangled gait representation for versatile quadruped locomotion},
author={Mitchell A, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
booktitle={International Conference on Robotics and Automation (ICRA 2022)},
pages={10564-10570},
year = "2022"
}
Semantically grounded object matching for robust robotic scene rearrangement
Goodwin W, Vaze S, Havoutis I & Posner H (2022), Proceedings of the International Conference on Robotics and Automation (ICRA 2022), 11138-11144
BibTeX
@inproceedings{semanticallygro-2022/7,
title={Semantically grounded object matching for robust robotic scene rearrangement},
author={Goodwin W, Vaze S, Havoutis I & Posner H},
booktitle={International Conference on Robotics and Automation (ICRA 2022)},
pages={11138-11144},
year = "2022"
}
Fast-MbyM: leveraging translational invariance of the fourier transform for efficient and accurate radar odometry
Weston R, Gadd M, De Martini D, Newman P & Posner H (2022), Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022), 2186-2192
BibTeX
@inproceedings{fastmbymleverag-2022/7,
title={Fast-MbyM: leveraging translational invariance of the fourier transform for efficient and accurate radar odometry},
author={Weston R, Gadd M, De Martini D, Newman P & Posner H},
booktitle={IEEE International Conference on Robotics and Automation (ICRA 2022)},
pages={2186-2192},
year = "2022"
}
ObPose: Leveraging Pose for Object-Centric Scene Inference and Generation in 3D
Wu Y, Jones OP & Posner I (2022)
BibTeX
@misc{obposeleveragin-2022/6,
title={ObPose: Leveraging Pose for Object-Centric Scene Inference and
Generation in 3D},
author={Wu Y, Jones OP & Posner I},
year = "2022"
}
GENESIS-V2: inferring unordered object representations without iterative refinement
Engelcke M, Parker Jones O & Posner I (2022), Advances in Neural Information Processing Systems 34 (NeurIPS 2021), 10, 8085-8094
BibTeX
@inproceedings{genesisvinferri-2022/5,
title={GENESIS-V2: inferring unordered object representations without iterative refinement},
author={Engelcke M, Parker Jones O & Posner I},
booktitle={ 35th Conference on Neural Information Processing Systems (NeurIPS 2021)},
pages={8085-8094},
year = "2022"
}
Universal approximation of functions on sets
Wagstaff E, Fuchs F, Engelcke M, Osborne M & Posner I (2022), Journal of Machine Learning Research, 23(151), 1-56
BibTeX
@article{universalapprox-2022/5,
title={Universal approximation of functions on sets},
author={Wagstaff E, Fuchs F, Engelcke M, Osborne M & Posner I},
journal={Journal of Machine Learning Research},
volume={23},
pages={1-56},
publisher={Journal of Machine Learning Research},
year = "2022"
}
E(n) Equivariant Normalizing Flows
Satorras V, Hoogeboom E, Fuchs F, Posner I & Welling M (2022), Advances in Neural Information Processing Systems 34 (NeurIPS 2021), 34, 4181-4192
BibTeX
@inproceedings{enequivariantno-2022/5,
title={E(n) Equivariant Normalizing Flows},
author={Satorras V, Hoogeboom E, Fuchs F, Posner I & Welling M},
booktitle={35th Conference on Neural Information Processing Systems (NeurIPS 2021)},
pages={4181-4192},
year = "2022"
}
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Mitchell AL, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al. (2022)
BibTeX
@misc{vaelocoversatil-2022/5,
title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
author={Mitchell AL, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
year = "2022"
}
Zero-Shot Category-Level Object Pose Estimation
Goodwin W, Vaze S, Havoutis I & Posner I (2022)
BibTeX
@misc{zeroshotcategor-2022/4,
title={Zero-Shot Category-Level Object Pose Estimation},
author={Goodwin W, Vaze S, Havoutis I & Posner I},
year = "2022"
}
Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry
Weston R, Gadd M, De Martini D, Newman P & Posner I (2022)
BibTeX
@misc{fastmbymleverag-2022/3,
title={Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry},
author={Weston R, Gadd M, De Martini D, Newman P & Posner I},
year = "2022"
}
Reaching through latent space: From joint statistics to path planning in manipulation
Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al. (2022), IEEE Robotics and Automation Letters
BibTeX
@article{reachingthrough-2022/2,
title={Reaching through latent space: From joint statistics to path planning in manipulation},
author={Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al.},
journal={IEEE Robotics and Automation Letters},
publisher={Institute of Electrical and Electronics Engineers},
year = "2022"
}
APEX: Unsupervised, object-centric scene segmentation and tracking for robot manipulation
Wu Y, Jones OP, Engelcke M & Posner I (2021), Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3375-3382
BibTeX
@inproceedings{apexunsupervise-2021/12,
title={APEX: Unsupervised, object-centric scene segmentation and tracking for robot manipulation},
author={Wu Y, Jones OP, Engelcke M & Posner I},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={3375-3382},
year = "2021"
}
Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion
Mitchell AL, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al. (2021)
BibTeX
@misc{nextstepslearni-2021/12,
title={Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion},
author={Mitchell AL, Merkt W, Geisert M, Gangapurwala S, Engelcke M et al.},
year = "2021"
}
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement
Goodwin W, Vaze S, Havoutis I & Posner I (2021)
BibTeX
@misc{semanticallygro-2021/11,
title={Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement},
author={Goodwin W, Vaze S, Havoutis I & Posner I},
year = "2021"
}
There and back again: learning to simulate radar data for real-world applications
Weston R, Jones OP & Posner H (2021), Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 12809-12816
BibTeX
@inproceedings{thereandbackaga-2021/10,
title={There and back again: learning to simulate radar data for real-world applications},
author={Weston R, Jones OP & Posner H},
booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages={12809-12816},
year = "2021"
}
Goal-conditioned end-to-end visuomotor control for versatile skill primitives
Groth O, Hung C, Vedaldi A & Posner I (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA), 1319-1325
BibTeX
@inproceedings{goalconditioned-2021/10,
title={Goal-conditioned end-to-end visuomotor control for versatile skill primitives},
author={Groth O, Hung C, Vedaldi A & Posner I},
booktitle={2021 International Conference on Robotics and Automation (ICRA 2021)},
pages={1319-1325},
year = "2021"
}
Introspective visuomotor control: exploiting uncertainty in deep visuomotor control for failure recovery
Hung C-M, Sun L, Wu Y, Havoutis I & Posner I (2021), Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 6293-6299
BibTeX
@inproceedings{introspectivevi-2021/10,
title={Introspective visuomotor control: exploiting uncertainty in deep visuomotor control for failure recovery},
author={Hung C-M, Sun L, Wu Y, Havoutis I & Posner I},
booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
pages={6293-6299},
year = "2021"
}
Iterative SE(3)-transformers
Fuchs FB, Wagstaff E, Dauparas J & Posner I (2021), 12829, 585-595
BibTeX
@inproceedings{iterativesetran-2021/7,
title={Iterative SE(3)-transformers},
author={Fuchs FB, Wagstaff E, Dauparas J & Posner I},
booktitle={5th International Conference on the Geometric Science of Information (GSI 2021)},
pages={585-595},
year = "2021"
}
Universal Approximation of Functions on Sets
Wagstaff E, Fuchs FB, Engelcke M, Osborne MA & Posner I (2021)
BibTeX
@misc{universalapprox-2021/7,
title={Universal Approximation of Functions on Sets},
author={Wagstaff E, Fuchs FB, Engelcke M, Osborne MA & Posner I},
year = "2021"
}
APEX: Unsupervised, Object-Centric Scene Segmentation and Tracking for Robot Manipulation
Wu Y, Jones OP, Engelcke M & Posner I (2021)
BibTeX
@misc{apexunsupervise-2021/5,
title={APEX: Unsupervised, Object-Centric Scene Segmentation and Tracking for
Robot Manipulation},
author={Wu Y, Jones OP, Engelcke M & Posner I},
year = "2021"
}