Search Results for author:
Found 8 papers, 5 papers with code
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
We propose a system for rearranging objects in a scene to achieve a desired object-scene placing relationship, such as a book inserted in an open slot of a bookshelf.
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare
Second, we introduce a novel approach for coarse pose estimation which leverages a network trained to classify whether the pose error between a synthetic rendering and an observed image of the same object can be corrected by the refiner.
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
With this formulation, we train a single multi-task Transformer for 18 RLBench tasks (with 249 variations) and 7 real-world tasks (with 18 variations) from just a few demonstrations per task.
Ranked #4 on
Robot Manipulation
on RLBench
CLIPort: What and Where Pathways for Robotic Manipulation
We even learn one multi-task policy for 10 simulated and 9 real-world tasks that is better or comparable to single-task policies.
Self-Supervised Correspondence in Visuomotor Policy Learning
In this paper we explore using self-supervised correspondence for improving the generalization performance and sample efficiency of visuomotor policy learning.
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation
However, representing an object with a parameterized transformation defined on a fixed template cannot capture large intra-category shape variation, and specifying a target pose at a category level can be physically infeasible or fail to accomplish the task -- e. g. knowing the pose and size of a coffee mug relative to some canonical mug is not sufficient to successfully hang it on a rack by its handle.
Robotics
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
In this paper we present Dense Object Nets, which build on recent developments in self-supervised dense descriptor learning, as a consistent object representation for visual understanding and manipulation.
LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes
We use an RGBD camera to collect video of a scene from multiple viewpoints and leverage existing reconstruction techniques to produce a 3D dense reconstruction.
