4 papers
Demo-Pose: Depth-Monocular Modality Fusion For Object Pose Estimation
Rachit Agarwal, Abhishek Joshi, Sathish Chalasani +1
Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estim…
Evaluating Robustness of Monocular Depth Estimation with Procedural Scene Perturbations
Jack Nugent, Siyang Wu, Zeyu Ma +7
Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance…
Procedural Generation of Articulated Simulation-Ready Assets
Abhishek Joshi, Beining Han, Jack Nugent +12
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 c…
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
Beining Han, Abhishek Joshi, Jia Deng
Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high dura…