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OVAL-Grasp: Open-Vocabulary Affordance Localization for Task Oriented Grasping
Edmond Tong, Advaith Balaji, Anthony Opipari +3
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle…
Explicit Memory through Online 3D Gaussian Splatting Improves Class-Agnostic Video Segmentation
Anthony Opipari, Aravindhan K Krishnan, Shreekant Gayaka +4
Remembering where object segments were predicted in the past is useful for improving the accuracy and consistency of class-agnostic video segmentation algorithms. Existing video se…
Configurable Embodied Data Generation for Class-Agnostic RGB-D Video Segmentation
Anthony Opipari, Aravindhan K Krishnan, Shreekant Gayaka +4
This paper presents a method for generating large-scale datasets to improve class-agnostic video segmentation across robots with different form factors. Specifically, we consider t…