18 citations · 26 across the 4 of their papers we have counts for
8 papers
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Weiyu Liu, Chris Paxton, Tucker Hermans +1
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would gr…
Towards Robust One-shot Task Execution using Knowledge Graph Embeddings
Angel Daruna, Lakshmi Nair, Weiyu Liu +1
Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoin…
Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping
Adithyavairavan Murali, Weiyu Liu, Kenneth Marino +2
Despite the enormous progress and generalization in robotic grasping in recent years, existing methods have yet to scale and generalize task-oriented grasping to the same extent. T…
Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks
Siddhartha Banerjee, Angel Daruna, David Kent +9
Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-c…
CAGE: Context-Aware Grasping Engine
Weiyu Liu, Angel Daruna, Sonia Chernova
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object…
Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings
Angel Daruna, Weiyu Liu, Zsolt Kira +1
Service robots benefit from encoding information in semantically meaningful ways to enable more robust task execution. Prior work has shown multi-relational embeddings can encode s…