no code implementations • 18 Apr 2023 • Adithyavairavan Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox
CabiNet is a collision model that accepts object and scene point clouds, captured from a single-view depth observation, and predicts collisions for SE(3) object poses in the scene.
1 code implementation • 21 Oct 2022 • Adam Fishman, Adithyavairan Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox
Collision-free motion generation in unknown environments is a core building block for robot manipulation.
no code implementations • 17 Nov 2020 • Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often infeasible.
no code implementations • 15 Nov 2020 • Alexander Lambert, Adam Fishman, Dieter Fox, Byron Boots, Fabio Ramos
By casting MPC as a Bayesian inference problem, we employ variational methods for posterior computation, naturally encoding the complexity and multi-modality of the decision making problem.