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Found 8 papers, 3 papers with code
Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning
We present a novel task scenario designed to evaluate the progress in visuomotor policy learning, with a specific focus on improving the robustness of intricate assembly tasks that require both geometrical and spatial reasoning.
SlotGNN: Unsupervised Discovery of Multi-Object Representations and Visual Dynamics
Our SlotGNN, a novel unsupervised graph-based dynamics model, predicts the future state of multi-object scenes.
Break and Make: Interactive Structural Understanding Using LEGO Bricks
We pair this simulator with a new dataset of fan-made LEGO creations that have been uploaded to the internet in order to provide complex scenes containing over a thousand unique brick shapes.
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state.
LanguageRefer: Spatial-Language Model for 3D Visual Grounding
Specifically, given a reconstructed 3D scene in the form of point clouds with 3D bounding boxes of potential object candidates, and a language utterance referring to a target object in the scene, our model successfully identifies the target object from a set of potential candidates.
Parts-Based Articulated Object Localization in Clutter Using Belief Propagation
To address this problem, we present a generative-discriminative parts-based recognition and localization method for articulated objects in clutter.
Semantic Mapping with Simultaneous Object Detection and Localization
Our results demonstrate that the particle filtering based inference of CT-Map provides improved object detection and pose estimation with respect to baseline methods that treat observations as independent samples of a scene.
Robotics
Pull Message Passing for Nonparametric Belief Propagation
In contrast, we propose a "pull" method, as the Pull Message Passing for Nonparametric Belief propagation (PMPNBP) algorithm, and demonstrate its viability for efficient inference.
