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cs.RO2024
GAPartManip: A Large-scale Part-centric Dataset for Material-Agnostic Articulated Object Manipulation
Wenbo Cui, Chengyang Zhao, Songlin Wei +5
Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision ha…
cs.RO2024
D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
Songlin Wei, Haoran Geng, Jiayi Chen +6
Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks…