Search Results for author: Karthik Desingh

Found 8 papers, 3 papers with code

Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning

no code implementations15 Oct 2023 Chahyon Ku, Carl Winge, Ryan Diaz, Wentao Yuan, Karthik Desingh

We present a novel task scenario designed to evaluate the progress in visuomotor policy learning, with a specific focus on improving the robustness of intricate assembly tasks that require both geometrical and spatial reasoning.


Break and Make: Interactive Structural Understanding Using LEGO Bricks

2 code implementations27 Jul 2022 Aaron Walsman, Muru Zhang, Klemen Kotar, Karthik Desingh, Ali Farhadi, Dieter Fox

We pair this simulator with a new dataset of fan-made LEGO creations that have been uploaded to the internet in order to provide complex scenes containing over a thousand unique brick shapes.

SORNet: Spatial Object-Centric Representations for Sequential Manipulation

1 code implementation8 Sep 2021 Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox

Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state.

Object Relation Classification +1

LanguageRefer: Spatial-Language Model for 3D Visual Grounding

no code implementations7 Jul 2021 Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox

Specifically, given a reconstructed 3D scene in the form of point clouds with 3D bounding boxes of potential object candidates, and a language utterance referring to a target object in the scene, our model successfully identifies the target object from a set of potential candidates.

Language Modelling Object +1

Parts-Based Articulated Object Localization in Clutter Using Belief Propagation

no code implementations6 Aug 2020 Jana Pavlasek, Stanley Lewis, Karthik Desingh, Odest Chadwicke Jenkins

To address this problem, we present a generative-discriminative parts-based recognition and localization method for articulated objects in clutter.

Object Object Localization +1

Semantic Mapping with Simultaneous Object Detection and Localization

1 code implementation26 Oct 2018 Zhen Zeng, Yunwen Zhou, Odest Chadwicke Jenkins, Karthik Desingh

Our results demonstrate that the particle filtering based inference of CT-Map provides improved object detection and pose estimation with respect to baseline methods that treat observations as independent samples of a scene.


Pull Message Passing for Nonparametric Belief Propagation

no code implementations27 Jul 2018 Karthik Desingh, Anthony Opipari, Odest Chadwicke Jenkins

In contrast, we propose a "pull" method, as the Pull Message Passing for Nonparametric Belief propagation (PMPNBP) algorithm, and demonstrate its viability for efficient inference.

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