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cs.RO2024
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…
cs.RO2024
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation
Jenny Wang, Octavian Donca, David Held
Relative placement tasks are an important category of tasks in which one object needs to be placed in a desired pose relative to another object. Previous work has shown success in…