90 citations · 115 across the 14 of their papers we have counts for
16 papers
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Sriram Krishna, Ben Eisner, Haotian Zhan +5
We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training distribution. GHOST factorizes control into (i) a high-level policy…
Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo +4
Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional t…
Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
Yishu Li, Xinyi Mao, Ying Yuan +3
We introduce a novel History-Aware VErifier (HAVE) to disambiguate uncertain scenarios online by leveraging past interactions. Robots frequently encounter visually ambiguous object…
Non-rigid Relative Placement through 3D Dense Diffusion
Eric Cai, Octavian Donca, Ben Eisner +1
The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric rea…
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
Yishu Li, Wen Hui Leng, Yiming Fang +2
We introduce a novel approach for manipulating articulated objects which are visually ambiguous, such doors which are symmetric or which are heavily occluded. These ambiguities can…
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks
Ben Eisner, Yi Yang, Todor Davchev +3
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from…