38 citations · 111 across the 12 of their papers we have counts for
13 papers
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications
Shuangyu Xie, Kaiyuan Chen, Ziyang Chen +8
Diverse applications for robotics, such as industry and agriculture, require robots to operate across various embodiments, changing visual conditions, and complex planning. Vision-…
GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training
Adithyavairavan Murali, Balakumar Sundaralingam, Yu-Wei Chao +7
Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize acro…
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
Jiafei Duan, Wilbert Pumacay, Nishanth Kumar +7
Robotic manipulation in open-world settings requires not only task execution but also the ability to detect and learn from failures. While recent advances in vision-language models…
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
Wentao Yuan, Jiafei Duan, Valts Blukis +5
From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adopt…
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay +4
Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an…
M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place
Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian +1
With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic m…
Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning
Chahyon Ku, Carl Winge, Ryan Diaz +2
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alig…
TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation
Xiangyun Meng, Nathan Hatch, Alexander Lambert +11
Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structure…
SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Wentao Yuan, Chris Paxton, Karthik Desingh +1
Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to…
STaR: Self-supervised Tracking and Reconstruction of Rigid Objects in Motion with Neural Rendering
Wentao Yuan, Zhaoyang Lv, Tanner Schmidt +1
We present STaR, a novel method that performs Self-supervised Tracking and Reconstruction of dynamic scenes with rigid motion from multi-view RGB videos without any manual annotati…
DeepGMR: Learning Latent Gaussian Mixture Models for Registration
Wentao Yuan, Ben Eckart, Kihwan Kim +3
Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situati…
Iterative Transformer Network for 3D Point Cloud
Wentao Yuan, David Held, Christoph Mertz +1
3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding…
PCN: Point Completion Network
Wentao Yuan, Tejas Khot, David Held +2
Shape completion, the problem of estimating the complete geometry of objects from partial observations, lies at the core of many vision and robotics applications. In this work, we…