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cs.RO2024
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…
cs.CV2024
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…
cs.RO2024
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…