4 papers
Cable Routing and Assembly using Tactile-driven Motion Primitives
Achu Wilson, Helen Jiang, Wenzhao Lian +1
Manipulating cables is challenging for robots because of the infinite degrees of freedom of the cables and frequent occlusion by the gripper and the environment. These challenges a…
PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis
Shubham Kanitkar, Helen Jiang, Wenzhen Yuan
When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the sta…
Semantic Curiosity for Active Visual Learning
Devendra Singh Chaplot, Helen Jiang, Saurabh Gupta +1
In this paper, we study the task of embodied interactive learning for object detection. Given a set of environments (and some labeling budget), our goal is to learn an object detec…
Canonical Correlation Inference for Mapping Abstract Scenes to Text
Nikos Papasarantopoulos, Helen Jiang, Shay B. Cohen
We describe a technique for structured prediction, based on canonical correlation analysis. Our learning algorithm finds two projections for the input and the output spaces that ai…