44 citations · 79 across the 10 of their papers we have counts for
12 papers · 1 filter
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Ishika Singh, Valts Blukis, Arsalan Mousavian +6
Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to sco…
Multi-View Fusion for Multi-Level Robotic Scene Understanding
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree +2
We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a…
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield +1
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-l…
Fast Uncertainty Quantification for Deep Object Pose Estimation
Guanya Shi, Yifeng Zhu, Jonathan Tremblay +4
Deep learning-based object pose estimators are often unreliable and overconfident especially when the input image is outside the training domain, for instance, with sim2real transf…
Joint Space Control via Deep Reinforcement Learning
Visak Kumar, David Hoeller, Balakumar Sundaralingam +2
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint…
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
Jonathan Tremblay, Stephen Tyree, Terry Mosier +1
We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neura…