39 citations · 71 across the 4 of their papers we have counts for
9 papers
Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion
Marcus Gualtieri, Robert Platt
We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object insta…
Learning Manipulation Skills Via Hierarchical Spatial Attention
Marcus Gualtieri, Robert Platt
Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is att…
Deictic Image Maps: An Abstraction For Learning Pose Invariant Manipulation Policies
Robert Platt, Colin Kohler, Marcus Gualtieri
In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the positi…
Learning 6-DoF Grasping and Pick-Place Using Attention Focus
Marcus Gualtieri, Robert Platt
We address a class of manipulation problems where the robot perceives the scene with a depth sensor and can move its end effector in a space with six degrees of freedom -- 3D posit…
Pick and Place Without Geometric Object Models
Marcus Gualtieri, Andreas ten Pas, Robert Platt
We propose a novel formulation of robotic pick and place as a deep reinforcement learning (RL) problem. Whereas most deep RL approaches to robotic manipulation frame the problem in…
Grasp Pose Detection in Point Clouds
Andreas ten Pas, Marcus Gualtieri, Kate Saenko +1
Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose.…
Open World Assistive Grasping Using Laser Selection
Marcus Gualtieri, James Kuczynski, Abraham M. Shultz +3
Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide…
Viewpoint Selection for Grasp Detection
Marcus Gualtieri, Robert Platt
In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewp…
High precision grasp pose detection in dense clutter
Marcus Gualtieri, Andreas ten Pas, Kate Saenko +1
This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and t…