8 papers
Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusion
Vignesh Vembar, Ayush Kaura, A Padmaprabhan +5
Current grasp diffusion models provide rich priors for generation, yet their object-centric approach can violate the kinematic and collision constraints imposed by the embodiment a…
PartialBiGrasp: Inferring Hidden Local Geometry for Bimanual Grasping from Partial Views
Ayush Kaura, Vignesh Vembar, Md Faizal Karim +2
Dual-arm robotic grasping is essential for manipulating large, heavy, and geometrically complex objects that cannot be reliably handled using a single manipulator. These large obje…
SILICA: Repurposing Diffusion Priors for Joint Glass Segmentation and Depth Estimation
Tarun R, Anuj Verma, Laksh Nanwani +2
Standard depth sensors systematically fail on transparent surfaces, creating corrupted 3D maps and severe navigation hazards. While specialized hardware sensors can detect glass, t…
Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks
Keshab Patra, K Madhava Krishna
This work proposes an actuator-aware spatiotemporal tube (STT) synthesis framework to accomplish temporal reach-avoid-stay (T-RAS) tasks for an unknown nonlinear multi-input and mu…
Object Pose and Shape Estimation for Grasping: Does it Work?
Pavan Karke, Kushal Shah, Gaurav Singh +3
The problem of object pose and shape estimation has seen key advancements lately. Encoder-decoder (e.g., SAM3D, LRM, CRISP) and diffusion-based models (e.g., InstantMesh, Zero123,…
DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps
Md Faizal Karim, Vignesh Vembar, Keshab Patra +2
Reliable dual-arm grasping is essential for manipulating large and complex objects but remains a challenging problem due to stability, collision, and generalization requirements. P…
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh, Sanket Kalwar, Md Faizal Karim +4
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents…
DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions
Sanket Kalwar, Mihir Ungarala, Shruti Jain +4
Semantic segmentation in adverse weather scenarios is a critical task for autonomous driving systems. While foundation models have shown promise, the need for specialized adaptors…