5 papers · 1 filter
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…
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.…