4 papers
Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation
Akash Anand, Aditya Agarwal, Leslie Pack Kaelbling
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates c…
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
Aditya Agarwal, Gaurav Singh, Bipasha Sen +2
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to av…
Vector Quantized Feature Fields for Fast 3D Semantic Lifting
George Tang, Aditya Agarwal, Weiqiao Han +2
We generalize lifting to semantic lifting by incorporating per-view masks that indicate relevant pixels for lifting tasks. These masks are determined by querying corresponding mult…
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck
Bipasha Sen, Michelle Wang, Nandini Thakur +2
We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or…