no code implementations • 6 Dec 2023 • Jiaman Li, Alexander Clegg, Roozbeh Mottaghi, Jiajun Wu, Xavier Puig, C. Karen Liu
Naively applying a diffusion model fails to predict object motion aligned with the input waypoints and cannot ensure the realism of interactions that require precise hand-object contact and appropriate contact grounded by the floor.
no code implementations • 20 Jun 2023 • Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X. Chang, Manolis Savva
Surprisingly, we observe that agents trained on just 122 scenes from our dataset outperform agents trained on 10, 000 scenes from the ProcTHOR-10K dataset in terms of zero-shot generalization in real-world scanned environments.
1 code implementation • CVPR 2023 • Joao Pedro Araujo, Jiaman Li, Karthik Vetrivel, Rishi Agarwal, Deepak Gopinath, Jiajun Wu, Alexander Clegg, C. Karen Liu
Leveraging our dataset, the model learns to use ego-centric scene information to achieve nontrivial reaching tasks in the context of complex 3D scenes.
no code implementations • 14 Mar 2023 • Yunbo Zhang, Alexander Clegg, Sehoon Ha, Greg Turk, Yuting Ye
In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects.
2 code implementations • 16 Jun 2022 • Changan Chen, Carl Schissler, Sanchit Garg, Philip Kobernik, Alexander Clegg, Paul Calamia, Dhruv Batra, Philip W Robinson, Kristen Grauman
We introduce SoundSpaces 2. 0, a platform for on-the-fly geometry-based audio rendering for 3D environments.
Automatic Speech Recognition Automatic Speech Recognition (ASR) +2
1 code implementation • 5 Apr 2022 • Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam
We present iSDF, a continual learning system for real-time signed distance field (SDF) reconstruction.
3 code implementations • 13 Dec 2019 • Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, Dhruv Batra
Second, we investigate the sim2real predictivity of Habitat-Sim for PointGoal navigation.
no code implementations • 14 Sep 2019 • Alexander Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, C. Karen Liu
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing.