Search Results for author: Samarth Brahmbhatt

Found 12 papers, 8 papers with code

Zero-Shot Transfer of Haptics-Based Object Insertion Policies

1 code implementation29 Jan 2023 Samarth Brahmbhatt, Ankur Deka, Andrew Spielberg, Matthias Müller

In this paper we train a contact-exploiting manipulation policy in simulation for the contact-rich household task of loading plates into a slotted holder, which transfers without any fine-tuning to the real robot.

PressureVision: Estimating Hand Pressure from a Single RGB Image

1 code implementation19 Mar 2022 Patrick Grady, Chengcheng Tang, Samarth Brahmbhatt, Christopher D. Twigg, Chengde Wan, James Hays, Charles C. Kemp

We also show that the output of our model depends on the appearance of the hand and cast shadows near contact regions.

Contact mechanics

ContactOpt: Optimizing Contact to Improve Grasps

1 code implementation CVPR 2021 Patrick Grady, Chengcheng Tang, Christopher D. Twigg, Minh Vo, Samarth Brahmbhatt, Charles C. Kemp

Given a hand mesh and an object mesh, a deep model trained on ground truth contact data infers desirable contact across the surfaces of the meshes.

Towards Markerless Grasp Capture

no code implementations17 Jul 2019 Samarth Brahmbhatt, Charles C. Kemp, James Hays

However, grasp capture - capturing the pose of a hand grasping an object, and orienting it w. r. t.

Hand Pose Estimation Object

ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging

2 code implementations CVPR 2019 Samarth Brahmbhatt, Cusuh Ham, Charles C. Kemp, James Hays

We present ContactDB, a novel dataset of contact maps for household objects that captures the rich hand-object contact that occurs during grasping, enabled by use of a thermal camera.

Grasp Contact Prediction Object +1

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact

4 code implementations7 Apr 2019 Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox

Using a dataset of contact demonstrations from humans grasping diverse household objects, we synthesize functional grasps for three hand models and two functional intents.

Object

Geometry-Aware Learning of Maps for Camera Localization

1 code implementation CVPR 2018 Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking.

Camera Localization Visual Localization

DeepNav: Learning to Navigate Large Cities

no code implementations CVPR 2017 Samarth Brahmbhatt, James Hays

We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images.

Navigate

StuffNet: Using 'Stuff' to Improve Object Detection

1 code implementation19 Oct 2016 Samarth Brahmbhatt, Henrik I. Christensen, James Hays

Through experiments on Pascal VOC 2007 and 2012, we demonstrate the effectiveness of this method and show that StuffNet also significantly improves object detection performance on such datasets.

Object object-detection +3

Occlusion-Aware Object Localization, Segmentation and Pose Estimation

no code implementations27 Jul 2015 Samarth Brahmbhatt, Heni Ben Amor, Henrik Christensen

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion.

3D Pose Estimation Object +2

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