51 citations · 153 across the 25 of their papers we have counts for
5 papers · 1 filter
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
Leveraging Large (Visual) Language Models for Robot 3D Scene Understanding
William Chen, Siyi Hu, Rajat Talak +1
Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of a…
Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding
William Chen, Siyi Hu, Rajat Talak +1
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robo…
Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training
Rajat Talak, Lisa Peng, Luca Carlone
We consider a certifiable object pose estimation problem, where -- given a partial point cloud of an object -- the goal is to not only estimate the object pose, but also to provide…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…