no code implementations • 15 Oct 2023 • Chahyon Ku, Carl Winge, Ryan Diaz, Wentao Yuan, Karthik Desingh
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.
no code implementations • 6 Oct 2023 • Alireza Rezazadeh, Athreyi Badithela, Karthik Desingh, Changhyun Choi
Our SlotGNN, a novel unsupervised graph-based dynamics model, predicts the future state of multi-object scenes.
2 code implementations • 27 Jul 2022 • Aaron Walsman, Muru Zhang, Klemen Kotar, Karthik Desingh, Ali Farhadi, Dieter Fox
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.
1 code implementation • 8 Sep 2021 • Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox
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.
no code implementations • 7 Jul 2021 • Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox
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.
no code implementations • 6 Aug 2020 • Jana Pavlasek, Stanley Lewis, Karthik Desingh, Odest Chadwicke Jenkins
To address this problem, we present a generative-discriminative parts-based recognition and localization method for articulated objects in clutter.
1 code implementation • 26 Oct 2018 • Zhen Zeng, Yunwen Zhou, Odest Chadwicke Jenkins, Karthik Desingh
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
no code implementations • 27 Jul 2018 • Karthik Desingh, Anthony Opipari, Odest Chadwicke Jenkins
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.