31 citations · 36 across the 11 of their papers we have counts for
11 papers
OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real World
Katherine Liu, Sergey Zakharov, Dian Chen +4
We would like to estimate the pose and full shape of an object from a single observation, without assuming known 3D model or category. In this work, we propose OmniShape, the first…
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping
Shun Iwase, Zubair Irshad, Katherine Liu +8
Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading t…
Equivariant Ray Embeddings for Implicit Multi-View Depth Estimation
Yinshuang Xu, Dian Chen, Katherine Liu +4
Incorporating inductive bias by embedding geometric entities (such as rays) as input has proven successful in multi-view learning. However, the methods adopting this technique typi…
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Stephen Tian, Blake Wulfe, Kyle Sargent +4
Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, envi…
ReFiNe: Recursive Field Networks for Cross-modal Multi-scene Representation
Sergey Zakharov, Katherine Liu, Adrien Gaidon +1
The common trade-offs of state-of-the-art methods for multi-shape representation (a single model "packing" multiple objects) involve trading modeling accuracy against memory and st…
DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation
Takuya Ikeda, Sergey Zakharov, Tianyi Ko +5
This paper addresses the challenging problem of category-level pose estimation. Current state-of-the-art methods for this task face challenges when dealing with symmetric objects a…
Zero-Shot Multi-Object Scene Completion
Shun Iwase, Katherine Liu, Vitor Guizilini +4
We present a 3D scene completion method that recovers the complete geometry of multiple unseen objects in complex scenes from a single RGB-D image. Despite notable advancements in…
NeO 360: Neural Fields for Sparse View Synthesis of Outdoor Scenes
Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu +5
Recent implicit neural representations have shown great results for novel view synthesis. However, existing methods require expensive per-scene optimization from many views hence l…
CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects
Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov +5
We present CARTO, a novel approach for reconstructing multiple articulated objects from a single stereo RGB observation. We use implicit object-centric representations and learn a…
ROAD: Learning an Implicit Recursive Octree Auto-Decoder to Efficiently Encode 3D Shapes
Sergey Zakharov, Rares Ambrus, Katherine Liu +1
Compact and accurate representations of 3D shapes are central to many perception and robotics tasks. State-of-the-art learning-based methods can reconstruct single objects but scal…