Manipulation and reasoning methods for embodied object search

Andrey Kurenkov

PhD Thesis. July 2023

Paper Project

Modeling dynamic environments with scene graph memory

Andrey Kurenkov, Michael Lingelbach, Tanmay Agarwal, Emily Jin, Chengshu Li, Ruohan Zhang, Li Fei-Fei, Jiajun Wu, Silvio Savarese, Roberto Martın-Martın

International Conference on Machine Learning. July 2023

Paper Project


Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation

Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín

5th Annual Conference on Robot Learning . November 2021

Paper Project Video

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

5th Annual Conference on Robot Learning . November 2021

Paper Project Video

Multi-Layer Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search

Andrey Kurenkov, Roberto Martín-Martín, Jeff Ichnowski, Ken Goldberg, Silvio Savarese

IEEE International Conference on Robotics and Automation (ICRA). May 2021

Paper Project Video


Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter

Andrey Kurenkov*, Joseph Taglic*, Rohun Kulkarni, Marcus Dominguez-Kuhne, Animesh Garg, Roberto Martín-Martín, Silvio Savarese

Conference on Robot Learning (CoRL). October 2020

Paper Project Video


AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers

Andrey Kurenkov*, Ajay Mandlekar*, Roberto Martin-Martin, Silvio Savarese, Animesh Garg

Conference on Robot Learning (CoRL). October 2019

Paper Project Blog Video

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter

Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martin-Martin, Animesh Garg, Silvio Savarese, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA). May 2019

Paper Project Video


Learning Task-Oriented Grasping for Tool Manipulation with Simulated Self-Supervision

Kuan Fang, Yuke Zhu, Animesh Garg, Viraj Mehta, Andrey Kurenkov, Li Fei-Fei, Silvio Savarese

Robotics: Science and Systems (RSS). June 2018

Paper Project Video

DeformNet: Free-Form Deformation Network for 3d Shape Reconstruction From a Single Image

Andrey Kurenkov, Jingwei Ji, Animesh Garg, Viraj Mehta, JunYoung Gwak, Chris Choy, Silvio Savarese

IEEE Winter Conference on Applications of Computer Vision (WACV). March 2018

Paper Project


An Evaluation of GUI and Kinesthetic Teaching Methods for Constrained-Keyframe Skills

Andrey Kurenkov, Baris Akgun, Andrea L. Thomaz

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015