9 papers
OVAL-Grasp: Open-Vocabulary Affordance Localization for Task Oriented Grasping
Edmond Tong, Advaith Balaji, Anthony Opipari +3
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle…
SPLATART: Articulated Gaussian Splatting with Estimated Object Structure
Stanley Lewis, Vishal Chandra, Tom Gao +1
Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only…
NARF24: Estimating Articulated Object Structure for Implicit Rendering
Stanley Lewis, Tom Gao, Odest Chadwicke Jenkins
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various c…
Single-View 3D Reconstruction via SO(2)-Equivariant Gaussian Sculpting Networks
Ruihan Xu, Anthony Opipari, Joshua Mah +4
This paper introduces SO(2)-Equivariant Gaussian Sculpting Networks (GSNs) as an approach for SO(2)-Equivariant 3D object reconstruction from single-view image observations. GSNs t…
OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding
Edmond Tong, Anthony Opipari, Stanley Lewis +2
In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which act…
MBot: A Modular Ecosystem for Scalable Robotics Education
Peter Gaskell, Jana Pavlasek, Tom Gao +3
The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and…
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering
Stanley Lewis, Jana Pavlasek, Odest Chadwicke Jenkins
Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally d…
ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception
Xiaotong Chen, Huijie Zhang, Zeren Yu +2
Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prov…
Parts-Based Articulated Object Localization in Clutter Using Belief Propagation
Jana Pavlasek, Stanley Lewis, Karthik Desingh +1
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimension…