SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

no code implementations • 27 Sep 2022 • Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg

Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling.

Autonomously Untangling Long Cables

no code implementations • 16 Jul 2022 • Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

Cables are ubiquitous in many settings and it is often useful to untangle them.

Management

All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators

no code implementations • 9 Mar 2022 • Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg

Large-scale semantic image annotation is a significant challenge for learning-based perception systems in robotics.

Pose Estimation Semantic Segmentation

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

1 code implementation • 27 Oct 2021 • Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

The ability to grasp and manipulate transparent objects is a major challenge for robots.

Transparent objects