Krista Reymann

Program Manager, Robotics at Google

Research Areas

Authored Publications
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    Robotic Table Tennis: A Case Study into a High Speed Learning System
    Jon Abelian
    Saminda Abeyruwan
    Michael Ahn
    Justin Boyd
    Erwin Johan Coumans
    Omar Escareno
    Wenbo Gao
    Navdeep Jaitly
    Juhana Kangaspunta
    Satoshi Kataoka
    Gus Kouretas
    Yuheng Kuang
    Corey Lynch
    Thinh Nguyen
    Ken Oslund
    Barney J. Reed
    Anish Shankar
    Avi Singh
    Grace Vesom
    Peng Xu
    Robotics: Science and Systems(2023)
    Preview abstract We present a deep-dive into a learning robotic system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This system puts together a highly optimized and novel perception subsystem, a high-speed low-latency robot controller, a simulation paradigm that can prevent damage in the real world and also train policies for zero-shot transfer, and automated real world environment resets that enable autonomous training and evaluation on physical robots. We complement a complete system description including numerous design decisions that are typically not widely disseminated, with a collection of ablation studies that clarify the importance of mitigating various sources of latency, accounting for training and deployment distribution shifts, robustness of the perception system, and sensitivity to policy hyper-parameters and choice of action space. A video demonstrating the components of our system and details of experimental results is included in the supplementary material. View details
    Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items
    Anthony G. Francis
    Brandon Kinman
    Laura Downs
    Nathan Koenig
    Ryan M. Hickman
    Thomas B. McHugh
    Preview abstract Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility that Google Scanned Objects provides will lead to further advances in interactive simulation, synthetic perception, and robotic learning. View details