5 papers
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
Hyungtae Lim, Nathan Hughes, Xihang Yu +5
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph…
A Roadmap for Climate-Relevant Robotics Research
Alan Papalia, Charles Dawson, Laurentiu L. Anton +25
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for clima…
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited
Hyungtae Lim, Daebeom Kim, Gunhee Shin +5
While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theore…
Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automation
Xihang Yu, Rajat Talak, Jingnan Shi +3
Modern warehouse automation systems rely on fleets of intelligent robots that generate vast amounts of data -- most of which remains unannotated. This paper develops a self-supervi…
Outlier-Robust Training of Machine Learning Models
Rajat Talak, Charis Georgiou, Jingnan Shi +1
Robust training of machine learning models in the presence of outliers has garnered attention across various domains. The use of robust losses is a popular approach and is known to…