62 citations · 168 across the 19 of their papers we have counts for
4 papers · 1 filter
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Bowen Wen, Wenzhao Lian, Kostas Bekris +1
Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is ch…
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
Bowen Wen, Kostas Bekris
Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a…
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
Andrew S. Morgan, Bowen Wen, Junchi Liang +3
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatibl…
Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Bowen Wen, Chaitanya Mitash, Kostas Bekris
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pos…