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ORCIDPeter R. Florence
Pete Florence
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- affiliation: Google, Mountain View, CA, USA
- affiliation (former): MIT, Computer Science and Artificial Intelligence Laboratory, Cambridge, MA, USA
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2020 – today
- 2024
[i36]Boyuan Chen, Zhuo Xu, Sean Kirmani, Brian Ichter, Danny Driess, Pete Florence, Dorsa Sadigh, Leonidas J. Guibas, Fei Xia:
SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities. CoRR abs/2401.12168 (2024)- 2023
- [j4]Simon Le Cleac'h
, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh:
Single-Level Differentiable Contact Simulation. IEEE Robotics Autom. Lett. 8(7): 4012-4019 (2023) - [c31]Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong T. Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R. Sanketi, Grecia Salazar, Michael S. Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J. Joshi, Alex Irpan, Brian Ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, Kehang Han:
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control. CoRL 2023: 2165-2183 - [c30]Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng:
Large Language Models as General Pattern Machines. CoRL 2023: 2498-2518 - [c29]Youngsun Wi, Mark Van der Merwe, Pete Florence, Andy Zeng, Nima Fazeli:
CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulation. CoRL 2023: 2753-2771 - [c28]Kevin Zakka, Philipp Wu, Laura M. Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel:
RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning. CoRL 2023: 2975-2994 - [c27]Huy Ha, Pete Florence, Shuran Song:
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition. CoRL 2023: 3766-3777 - [c26]Allan Zhou, Moo Jin Kim, Lirui Wang, Pete Florence, Chelsea Finn:
NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis. CVPR 2023: 17907-17917 - [c25]Andy Zeng, Maria Attarian, Brian Ichter, Krzysztof Marcin Choromanski, Adrian Wong, Stefan Welker, Federico Tombari, Aveek Purohit, Michael S. Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, Pete Florence:
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language. ICLR 2023 - [c24]Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence:
PaLM-E: An Embodied Multimodal Language Model. ICML 2023: 8469-8488 - [c23]Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng:
Code as Policies: Language Model Programs for Embodied Control. ICRA 2023: 9493-9500 - [c22]Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi:
Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations. ICRA 2023: 9515-9522 - [c21]Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, Brian Ichter:
Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents. NeurIPS 2023 - [i35]Allan Zhou, Moo Jin Kim, Lirui Wang, Pete Florence, Chelsea Finn:
NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis. CoRR abs/2301.08556 (2023) - [i34]Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, Brian Ichter:
Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control. CoRR abs/2303.00855 (2023) - [i33]Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence:
PaLM-E: An Embodied Multimodal Language Model. CoRR abs/2303.03378 (2023) - [i32]Kevin Zakka, Laura M. Smith, Nimrod Gileadi, Taylor A. Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel:
RoboPianist: A Benchmark for High-Dimensional Robot Control. CoRR abs/2304.04150 (2023) - [i31]Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng:
Large Language Models as General Pattern Machines. CoRR abs/2307.04721 (2023) - [i30]Tao Tu, Shekoofeh Azizi, Danny Driess, Mike Schaekermann, Mohamed Amin, Pi-Chuan Chang, Andrew Carroll, Chuck Lau, Ryutaro Tanno, Ira Ktena, Basil Mustafa, Aakanksha Chowdhery, Yun Liu, Simon Kornblith, David J. Fleet, Philip Andrew Mansfield, Sushant Prakash, Renee Wong, Sunny Virmani, Christopher Semturs, S. Sara Mahdavi, Bradley Green, Ewa Dominowska, Blaise Agüera y Arcas, Joelle K. Barral, Dale R. Webster, Gregory S. Corrado, Yossi Matias, Karan Singhal, Pete Florence, Alan Karthikesalingam, Vivek Natarajan:
Towards Generalist Biomedical AI. CoRR abs/2307.14334 (2023) - [i29]Huy Ha, Pete Florence, Shuran Song:
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition. CoRR abs/2307.14535 (2023) - [i28]Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alexander Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil J. Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael S. Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong T. Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich:
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control. CoRR abs/2307.15818 (2023) - [i27]Yilun Du, Mengjiao Yang, Pete Florence, Fei Xia, Ayzaan Wahid, Brian Ichter, Pierre Sermanet, Tianhe Yu, Pieter Abbeel, Joshua B. Tenenbaum, Leslie Pack Kaelbling, Andy Zeng, Jonathan Tompson:
Video Language Planning. CoRR abs/2310.10625 (2023) - [i26]Pierre Sermanet, Tianli Ding, Jeffrey Zhao, Fei Xia, Debidatta Dwibedi, Keerthana Gopalakrishnan, Christine Chan, Gabriel Dulac-Arnold, Sharath Maddineni, Nikhil J. Joshi, Pete Florence, Wei Han, Robert Baruch, Yao Lu, Suvir Mirchandani, Peng Xu, Pannag Sanketi, Karol Hausman, Izhak Shafran, Brian Ichter, Yuan Cao:
RoboVQA: Multimodal Long-Horizon Reasoning for Robotics. CoRR abs/2311.00899 (2023) - 2022
- [j3]Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Peter R. Florence, Zachary Manchester, Vikas Sindhwani:
Trajectory Optimization with Optimization-Based Dynamics. IEEE Robotics Autom. Lett. 7(3): 6750-6757 (2022) - [c20]Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Tomas Jackson, Noah Brown, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter:
Inner Monologue: Embodied Reasoning through Planning with Language Models. CoRL 2022: 1769-1782 - [c19]Youngsun Wi, Andy Zeng, Pete Florence, Nima Fazeli:
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects. CoRL 2022: 1806-1816 - [c18]Yen-Chen Lin, Pete Florence, Andy Zeng, Jonathan T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, Phillip Isola:
MIRA: Mental Imagery for Robotic Affordances. CoRL 2022: 1916-1927 - [c17]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. ICRA 2022: 2656-2662 - [c16]Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli:
VIRDO: Visio-tactile Implicit Representations of Deformable Objects. ICRA 2022: 3583-3590 - [c15]Yen-Chen Lin, Pete Florence, Jonathan T. Barron, Tsung-Yi Lin, Alberto Rodriguez, Phillip Isola:
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields. ICRA 2022: 6496-6503 - [c14]Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, Marc Toussaint:
Reinforcement Learning with Neural Radiance Fields. NeurIPS 2022 - [i25]Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli:
VIRDO: Visio-tactile Implicit Representations of Deformable Objects. CoRR abs/2202.00868 (2022) - [i24]Yen-Chen Lin, Pete Florence, Jonathan T. Barron, Tsung-Yi Lin, Alberto Rodriguez Garcia, Phillip Isola:
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields. CoRR abs/2203.01913 (2022) - [i23]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. CoRR abs/2203.01983 (2022) - [i22]Andy Zeng, Adrian Wong, Stefan Welker, Krzysztof Choromanski, Federico Tombari, Aveek Purohit, Michael S. Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, Pete Florence:
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language. CoRR abs/2204.00598 (2022) - [i21]Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi:
Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations. CoRR abs/2205.06333 (2022) - [i20]Danny Driess, Ingmar Schubert, Peter R. Florence, Yunzhu Li, Marc Toussaint:
Reinforcement Learning with Neural Radiance Fields. CoRR abs/2206.01634 (2022) - [i19]Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter:
Inner Monologue: Embodied Reasoning through Planning with Language Models. CoRR abs/2207.05608 (2022) - [i18]Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng:
Code as Policies: Language Model Programs for Embodied Control. CoRR abs/2209.07753 (2022) - [i17]Youngsun Wi, Andy Zeng, Pete Florence, Nima Fazeli:
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects. CoRR abs/2210.03701 (2022) - [i16]Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, Pete Florence:
Interactive Language: Talking to Robots in Real Time. CoRR abs/2210.06407 (2022) - [i15]Yen-Chen Lin, Pete Florence, Andy Zeng, Jonathan T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, Phillip Isola:
MIRA: Mental Imagery for Robotic Affordances. CoRR abs/2212.06088 (2022) - [i14]Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh:
Single-Level Differentiable Contact Simulation. CoRR abs/2212.06764 (2022) - 2021
- [c13]Pete Florence, Corey Lynch, Andy Zeng, Oscar A. Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson:
Implicit Behavioral Cloning. CoRL 2021: 158-168 - [c12]Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi:
XIRL: Cross-embodiment Inverse Reinforcement Learning. CoRL 2021: 537-546 - [c11]Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng:
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. ICRA 2021: 4568-4575 - [c10]Yen-Chen Lin, Pete Florence, Jonathan T. Barron, Alberto Rodriguez, Phillip Isola, Tsung-Yi Lin:
iNeRF: Inverting Neural Radiance Fields for Pose Estimation. IROS 2021: 1323-1330 - [i13]Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi:
XIRL: Cross-embodiment Inverse Reinforcement Learning. CoRR abs/2106.03911 (2021) - [i12]Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson:
Implicit Behavioral Cloning. CoRR abs/2109.00137 (2021) - [i11]Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani:
Trajectory Optimization with Optimization-Based Dynamics. CoRR abs/2109.04928 (2021) - 2020
- [j2]Peter R. Florence, Lucas Manuelli, Russ Tedrake:
Self-Supervised Correspondence in Visuomotor Policy Learning. IEEE Robotics Autom. Lett. 5(2): 492-499 (2020) - [c9]Lucas Manuelli, Yunzhu Li, Peter R. Florence, Russ Tedrake:
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning. CoRL 2020: 693-710 - [c8]Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee:
Transporter Networks: Rearranging the Visual World for Robotic Manipulation. CoRL 2020: 726-747 - [i10]Lucas Manuelli, Yunzhu Li, Peter R. Florence, Russ Tedrake:
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning. CoRR abs/2009.05085 (2020) - [i9]Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee:
Transporter Networks: Rearranging the Visual World for Robotic Manipulation. CoRR abs/2010.14406 (2020) - [i8]Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng:
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. CoRR abs/2012.03385 (2020) - [i7]Yen-Chen Lin, Pete Florence, Jonathan T. Barron, Alberto Rodriguez Garcia, Phillip Isola, Tsung-Yi Lin:
iNeRF: Inverting Neural Radiance Fields for Pose Estimation. CoRR abs/2012.05877 (2020)
2010 – 2019
- 2019
- [c7]Jeong Joon Park, Peter R. Florence, Julian Straub, Richard A. Newcombe, Steven Lovegrove:
DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation. CVPR 2019: 165-174 - [c6]Lucas Manuelli, Wei Gao, Peter R. Florence, Russ Tedrake:
KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation. ISRR 2019: 132-157 - [i6]Jeong Joon Park, Peter R. Florence, Julian Straub, Richard A. Newcombe, Steven Lovegrove:
DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation. CoRR abs/1901.05103 (2019) - [i5]Lucas Manuelli, Wei Gao, Peter R. Florence, Russ Tedrake:
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation. CoRR abs/1903.06684 (2019) - [i4]Peter R. Florence, Lucas Manuelli, Russ Tedrake:
Self-Supervised Correspondence in Visuomotor Policy Learning. CoRR abs/1909.06933 (2019) - 2018
- [j1]Andrew J. Barry, Peter R. Florence, Russ Tedrake:
High-speed autonomous obstacle avoidance with pushbroom stereo. J. Field Robotics 35(1): 52-68 (2018) - [c5]Peter R. Florence, Lucas Manuelli, Russ Tedrake:
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation. CoRL 2018: 373-385 - [c4]Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake:
Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes. ICRA 2018: 1-8 - [c3]Peter R. Florence, John Carter, Jake Ware, Russ Tedrake:
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search Over Local 3D Data. ICRA 2018: 7631-7638 - [i3]Peter R. Florence, John Carter, Jake Ware, Russ Tedrake:
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data. CoRR abs/1802.09076 (2018) - [i2]Peter R. Florence, Lucas Manuelli, Russ Tedrake:
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation. CoRR abs/1806.08756 (2018) - 2017
- [i1]Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake:
A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes. CoRR abs/1707.04796 (2017) - 2016
- [c2]Benoit Landry, Robin Deits, Peter R. Florence, Russ Tedrake:
Aggressive quadrotor flight through cluttered environments using mixed integer programming. ICRA 2016: 1469-1475 - [c1]Peter R. Florence, John Carter, Russ Tedrake:
Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps. WAFR 2016: 304-319
Coauthor Index
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