7 citations · 11 across the 3 of their papers we have counts for
3 papers
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
Anthony Simeonov, Ankit Goyal, Lucas Manuelli +5
We propose a system for rearranging objects in a scene to achieve a desired object-scene placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline…
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
Anthony Simeonov, Yilun Du, Lin Yen-Chen +4
We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our frame…
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields
Lin Yen-Chen, Pete Florence, Jonathan T. Barron +3
Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them u…