4 papers
ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat
Nicolas Marticorena, Tobias Fischer, Niko Suenderhauf
Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid…
EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition
Adam D. Hines, Gokul B. Nair, Nicolás Marticorena +2
Dynamic vision sensors, also known as event cameras, are rapidly rising in popularity for robotic and computer vision tasks due to their sparse activation and high-temporal resolut…
Open-Vocabulary Part-Based Grasping
Tjeard van Oort, Dimity Miller, Will N. Browne +3
Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot…
RMMI: Reactive Mobile Manipulation using an Implicit Neural Map
Nicolas Marticorena, Tobias Fischer, Jesse Haviland +1
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current r…