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.
1 code implementation • 9 Nov 2021 • Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam
Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills.
1 code implementation • NeurIPS 2021 • Meera Hahn, Devendra Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta
Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards.
no code implementations • 29 Sep 2021 • Aaron Lou, Maximilian Nickel, Mustafa Mukadam, Brandon Amos
We present Deep Riemannian Manifolds, a new class of neural network parameterized Riemannian manifolds that can represent and learn complex geometric structures.
5 code implementations • NeurIPS 2021 • Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra
We introduce Habitat 2. 0 (H2. 0), a simulation platform for training virtual robots in interactive 3D environments and complex physics-enabled scenarios.
no code implementations • ICCV 2021 • Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation.
1 code implementation • ICCV 2021 • Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani
One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment.
no code implementations • 7 Dec 2020 • Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
In order to incorporate tactile measurements in the graph, we need local observation models that can map high-dimensional tactile images onto a low-dimensional state space.
no code implementations • NeurIPS 2020 • Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak
We show that NDPs outperform the prior state-of-the-art in terms of either efficiency or performance across several robotic control tasks for both imitation and reinforcement learning setups.
Ranked #4 on
Meta-Learning
on MT50
no code implementations • 19 Nov 2020 • Rogerio Bonatti, Arthur Bucker, Sebastian Scherer, Mustafa Mukadam, Jessica Hodgins
First, we generate a database of video clips with a diverse range of shots in a photo-realistic simulator, and use hundreds of participants in a crowd-sourcing framework to obtain scores for a set of semantic descriptors for each clip.
1 code implementation • L4DC 2020 • Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier
The recursive Newton-Euler Algorithm (RNEA) is a popular technique for computing the dynamics of robots.
Robotics
no code implementations • 7 Oct 2019 • Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff
RMPfusion supplements RMPflow with weight functions that can hierarchically reshape the Lyapunov functions of the subtask RMPs according to the current configuration of the robot and environment.
1 code implementation • 14 Feb 2019 • Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots
We propose a collection of RMPs for simple multi-robot tasks that can be used for building controllers for more complicated tasks.
Robotics
1 code implementation • 16 Nov 2018 • Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff
We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion Policies (RMPs).
Robotics Systems and Control
1 code implementation • 24 Jul 2017 • Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots
We benchmark our algorithms against several sampling-based and trajectory optimization-based motion planning algorithms on planning problems in multiple environments.
Robotics