101 citations · 405 across the 23 of their papers we have counts for
5 papers · 1 filter
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang +6
Object manipulation from 3D visual inputs poses many challenges on building generalizable perception and policy models. However, 3D assets in existing benchmarks mostly lack the di…
O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning
Kaichun Mo, Yuzhe Qin, Fanbo Xiang +2
Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e.g., human-object, hand-object, robot-object) interaction in computer vision and robotics,…
Single RGB-D Camera Teleoperation for General Robotic Manipulation
Quan Vuong, Yuzhe Qin, Runlin Guo +3
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hamme…
OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation
Ziyuan Liu, Wei Liu, Yuzhe Qin +8
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, spe…
CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds
Yijia Weng, He Wang, Qiang Zhou +6
In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle…