Grasp, See and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior

1 code implementation • 23 Feb 2024 • Kechun Xu, Zhongxiang Zhou, Jun Wu, Haojian Lu, Rong Xiong, Yue Wang

For the inner loop, we learn an active seeing policy for self-confident object matching to improve the perception of place.

Object

RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map

1 code implementation • 12 Oct 2022 • Xuecheng Xu, Sha Lu, Jun Wu, Haojian Lu, Qiuguo Zhu, Yiyi Liao, Rong Xiong, Yue Wang

In addition, we derive sufficient conditions of feature extractors for the representation preserving the roto-translation invariance, making RING++ a framework applicable to generic multi-channel features.

Translation

DPCN++: Differentiable Phase Correlation Network for Versatile Pose Registration

no code implementations • 12 Jun 2022 • Zexi Chen, Yiyi Liao, Haozhe Du, Haodong Zhang, Xuecheng Xu, Haojian Lu, Rong Xiong, Yue Wang

Next, the rotation, scale, and translation are independently and efficiently estimated in the spectrum step-by-step using the DPC solver.

Translation

Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes

1 code implementation • 9 May 2022 • Liang Xie, Hongxiang Yu, Kechun Xu, Tong Yang, Minhang Wang, Haojian Lu, Rong Xiong, Yue Wang

This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal sim-to-real cost.