1 citations · 1 across the 4 of their papers we have counts for
5 papers
Whole-Body Dexterity
Conor Mc Gartoll, An Dang, Pranay Thangeda +5
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and slidi…
HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping
Runpei Dong, Ziyan Li, Arjun Gupta +2
Visual loco-manipulation of arbitrary in-the-wild objects requires accurate end-effector (EE) control and a generalizable understanding of the scene from visual inputs (eg, RGB-D i…
Precise Mobile Manipulation of Small Everyday Objects
Arjun Gupta, Rishik Sathua, Saurabh Gupta
Many everyday mobile manipulation tasks require precise interaction with small objects, such as grasping a knob to open a cabinet or pressing a light switch. In this paper, we deve…
Opening Articulated Structures in the Real World
Arjun Gupta, Michelle Zhang, Rishik Sathua +1
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question…
Mitigating Perspective Distortion-induced Shape Ambiguity in Image Crops
Aditya Prakash, Arjun Gupta, Saurabh Gupta
Objects undergo varying amounts of perspective distortion as they move across a camera's field of view. Models for predicting 3D from a single image often work with crops around th…