4 papers
Human-Interpretable Uncertainty Explanations for Point Cloud Registration
Johannes A. Gaus, Loris Schneider, Yitian Shi +3
In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and part…
Diffusion Models for Robotic Manipulation: A Survey
Rosa Wolf, Yitian Shi, Sheng Liu +1
Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in ro…
VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibility
Yitian Shi, Di Wen, Guanqi Chen +5
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveragi…
vMF-Contact: Uncertainty-aware Evidential Learning for Probabilistic Contact-grasp in Noisy Clutter
Yitian Shi, Edgar Welte, Maximilian Gilles +1
Grasp learning in noisy environments, such as occlusions, sensor noise, and out-of-distribution (OOD) objects, poses significant challenges. Recent learning-based approaches focus…