4 papers
Distracted Robot: How Visual Clutter Undermine Robotic Manipulation
Amir Rasouli, Montgomery Alban, Sajjad Pakdamansavoji +4
In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation…
Improving Robotic Manipulation Robustness via NICE Scene Surgery
Sajjad Pakdamansavoji, Mozhgan Pourkeshavarz, Adam Sigal +3
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety.…
CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance
Rui Heng Yang, Xuan Zhao, Leo Maxime Brunswic +5
In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal perf…
WALDO: Where Unseen Model-based 6D Pose Estimation Meets Occlusion
Sajjad Pakdamansavoji, Yintao Ma, Amir Rasouli +1
Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning…