5 citations · 12 across the 4 of their papers we have counts for
4 papers
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman +9
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization t…
Diff-DOPE: Differentiable Deep Object Pose Estimation
Jonathan Tremblay, Bowen Wen, Valts Blukis +3
We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rende…
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
Taeyeop Lee, Jonathan Tremblay, Valts Blukis +6
Test-time adaptation methods have been gaining attention recently as a practical solution for addressing source-to-target domain gaps by gradually updating the model without requir…
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
Bowen Wen, Jonathan Tremblay, Valts Blukis +6
We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the obj…