HomeRobot: Open-Vocabulary Mobile Manipulation

no code implementations • 20 Jun 2023 • Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander William Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks.

USA-Net: Unified Semantic and Affordance Representations for Robot Memory

no code implementations • 24 Apr 2023 • Benjamin Bolte, Austin Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton

In order for robots to follow open-ended instructions like "go open the brown cabinet over the sink", they require an understanding of both the scene geometry and the semantics of their environment.

Navigate

Navigating to Objects Specified by Images

no code implementations • ICCV 2023 • Jacob Krantz, Theophile Gervet, Karmesh Yadav, Austin Wang, Chris Paxton, Roozbeh Mottaghi, Dhruv Batra, Jitendra Malik, Stefan Lee, Devendra Singh Chaplot

Our modular method solves sub-tasks of exploration, goal instance re-identification, goal localization, and local navigation.

Navigate Visual Reasoning

Theseus: A Library for Differentiable Nonlinear Optimization

1 code implementation • 19 Jul 2022 • Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision.

Differentiable and Learnable Robot Models

1 code implementation • 22 Feb 2022 • Franziska Meier, Austin Wang, Giovanni Sutanto, Yixin Lin, Paarth Shah

Building differentiable simulations of physical processes has recently received an increasing amount of attention.

Pedestrian Dominance Modeling for Socially-Aware Robot Navigation

no code implementations • 15 Oct 2018 • Tanmay Randhavane, Aniket Bera, Emily Kubin, Austin Wang, Kurt Gray, Dinesh Manocha

We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation.

Robotics