667 citations · 2.8k across the 127 of their papers we have counts for
28 papers · 1 filter
iCaps: Iterative Category-level Object Pose and Shape Estimation
Xinke Deng, Junyi Geng, Timothy Bretl +2
This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shap…
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Henry M. Clever, Ankur Handa, Hammad Mazhar +7
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to commun…
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Rika Antonova, Jingyun Yang, Priya Sundaresan +3
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise def…
Learning Perceptual Concepts by Bootstrapping from Human Queries
Andreea Bobu, Chris Paxton, Wei Yang +4
When robots operate in human environments, it's critical that humans can quickly teach them new concepts: object-centric properties of the environment that they care about (e.g. ob…
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Nicholas Roy, Ingmar Posner, Tim Barfoot +17
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning metho…
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Weiyu Liu, Chris Paxton, Tucker Hermans +1
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would gr…