180 citations · 252 across the 20 of their papers we have counts for
22 papers
Geometrically Plausible Object Pose Refinement using Differentiable Simulation
Anil Zeybek, Rhys Newbury, Snehal Dikhale +3
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimat…
KeyPointDiffuser: Unsupervised 3D Keypoint Learning via Latent Diffusion Models
Rhys Newbury, Juyan Zhang, Tin Tran +2
Understanding and representing the structure of 3D objects in an unsupervised manner remains a core challenge in computer vision and graphics. Most existing unsupervised keypoint m…
Heteroscedasticity of Denoising Score Matching with Generalised Smooth Noise
Juyan Zhang, Rhys Newbury, Xinyang Zhang +3
Score Matching (SM) is a powerful framework for estimating the log-density derivatives of a distribution without calculating its normalizing constants. This capability has made it…
INSPIRE-GNN: Intelligent Sensor Placement to Improve Sparse Bicycling Network Prediction via Reinforcement Learning Boosted Graph Neural Networks
Mohit Gupta, Debjit Bhowmick, Rhys Newbury +3
Accurate link-level bicycling volume estimation is essential for sustainable urban transportation planning. However, many cities face significant challenges of high data sparsity d…
Carefully Structured Compression: Efficiently Managing StarCraft II Data
Bryce Ferenczi, Rhys Newbury, Michael Burke +1
Creation and storage of datasets are often overlooked input costs in machine learning, as many datasets are simple image label pairs or plain text. However, datasets with more comp…
A Review of Differentiable Simulators
Rhys Newbury, Jack Collins, Kerry He +4
Differentiable simulators continue to push the state of the art across a range of domains including computational physics, robotics, and machine learning. Their main value is the a…
Comparing Subjective Perceptions of Robot-to-Human Handover Trajectories
Alexander Calvert, Wesley Chan, Tin Tran +4
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communicatio…
In-Hand Gravitational Pivoting Using Tactile Sensing
Jason Toskov, Rhys Newbury, Mustafa Mukadam +2
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To ac…
HOB-CNN: Hallucination of Occluded Branches with a Convolutional Neural Network for 2D Fruit Trees
Zijue Chen, Keenan Granland, Rhys Newbury +1
Orchard automation has attracted the attention of researchers recently due to the shortage of global labor force. To automate tasks in orchards such as pruning, thinning, and harve…
Deep Learning Approaches to Grasp Synthesis: A Review
Rhys Newbury, Morris Gu, Lachlan Chumbley +9
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic…
Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction
Lachlan Chumbley, Morris Gu, Rhys Newbury +2
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulatin…
Visibility Maximization Controller for Robotic Manipulation
Kerry He, Rhys Newbury, Tin Tran +5
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive control…
Tabletop Object Rearrangement: Team ACRV's Entry to OCRTOC
Zheyu Zhang, Rhys Newbury, Kerry He +5
Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the most comprehensive cloud-based robotic manipulation competitions. It focuses on rearranging tabletop objects us…
Demonstrating Cloth Folding to Robots: Design and Evaluation of a 2D and a 3D User Interface
Benjamin Waymouth, Akansel Cosgun, Rhys Newbury +4
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design…
Visualizing Robot Intent for Object Handovers with Augmented Reality
Rhys Newbury, Akansel Cosgun, Tysha Crowley-Davis +3
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typicall…
Semantic Segmentation for Partially Occluded Apple Trees Based on Deep Learning
Zijue Chen, David Ting, Rhys Newbury +1
Fruit tree pruning and fruit thinning require a powerful vision system that can provide high resolution segmentation of the fruit trees and their branches. However, recent works on…
Minimizing Labeling Effort for Tree Skeleton Segmentation using an Automated Iterative Training Methodology
Keenan Granland, Rhys Newbury, David Ting +1
Training of convolutional neural networks for semantic segmentation requires accurate pixel-wise labeling which requires large amounts of human effort. The human-in-the-loop method…
Decentralized Multi-Agent Pursuit using Deep Reinforcement Learning
Cristino de Souza, Rhys Newbury, Akansel Cosgun +3
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homo…
Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision
Patrick Rosenberger, Akansel Cosgun, Rhys Newbury +4
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic obj…
Supportive Actions for Manipulation in Human-Robot Coworker Teams
Shray Bansal, Rhys Newbury, Wesley Chan +5
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in the…
Learning to Place Objects onto Flat Surfaces in Upright Orientations
Rhys Newbury, Kerry He, Akansel Cosgun +1
We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the…
Learning to Take Good Pictures of People with a Robot Photographer
Rhys Newbury, Akansel Cosgun, Mehmet Koseoglu +1
We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people are detected, the robot rotate…