25 citations · 46 across the 13 of their papers we have counts for
6 papers · 1 filter
Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation
Akash Anand, Aditya Agarwal, Leslie Pack Kaelbling
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates c…
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck
Bipasha Sen, Michelle Wang, Nandini Thakur +2
We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or…
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
Aditya Agarwal, Gaurav Singh, Bipasha Sen +2
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to av…
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu, Alihusein Kuwajerwala, Sacha Morin +13
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and pla…
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
Kallol Saha, Vishal Mandadi, Jayaram Reddy +5
Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers r…
Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning
Aditya Agarwal, Bipasha Sen, Shankara Narayanan +3
Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D s…