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.
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.
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.
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.
2 code implementations • 8 Feb 2023 • Matthew Tancik, Ethan Weber, Evonne Ng, RuiLong Li, Brent Yi, Justin Kerr, Terrance Wang, Alexander Kristoffersen, Jake Austin, Kamyar Salahi, Abhik Ahuja, David McAllister, Angjoo Kanazawa
Neural Radiance Fields (NeRF) are a rapidly growing area of research with wide-ranging applications in computer vision, graphics, robotics, and more.
5 code implementations • ICCV 2023 • Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik
Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations, or actionable affordances.
no code implementations • 13 Jul 2023 • Vincent Schorp, Will Panitch, Kaushik Shivakumar, Vainavi Viswanath, Justin Kerr, Yahav Avigal, Danyal M Fer, Lionel Ott, Ken Goldberg
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue.
no code implementations • 14 Sep 2023 • Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Chen, Angjoo Kanazawa, Ken Goldberg
Instead, we propose LERF-TOGO, Language Embedded Radiance Fields for Task-Oriented Grasping of Objects, which uses vision-language models zero-shot to output a grasp distribution over an object given a natural language query.
1 code implementation • 17 Jan 2024 • Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa
We optimize this field from a set of 2D masks provided by Segment Anything (SAM) in a way that respects coarse-to-fine hierarchy, using scale to consistently fuse conflicting masks from different viewpoints.