16 citations · 37 across the 5 of their papers we have counts for
6 papers
Masked Trajectory Models for Prediction, Representation, and Control
Philipp Wu, Arjun Majumdar, Kevin Stone +4
We introduce Masked Trajectory Models (MTM) as a generic abstraction for sequential decision making. MTM takes a trajectory, such as a state-action sequence, and aims to reconstruc…
CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
Muhammad Zubair Irshad, Thomas Kollar, Michael Laskey +2
This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level…
A Learned Stereo Depth System for Robotic Manipulation in Homes
Krishna Shankar, Mark Tjersland, Jeremy Ma +2
We present a passive stereo depth system that produces dense and accurate point clouds optimized for human environments, including dark, textureless, thin, reflective and specular…
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Thomas Kollar, Michael Laskey, Kevin Stone +2
Robot manipulation of unknown objects in unstructured environments is a challenging problem due to the variety of shapes, materials, arrangements and lighting conditions. Even with…
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan +5
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furth…
A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes
Max Bajracharya, James Borders, Dan Helmick +10
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single…