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cs.RO2024
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…
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
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…