48 citations · 426 across the 46 of their papers we have counts for
7 papers · 1 filter
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering
Maria Bauza, Eric Valls, Bryan Lim +2
In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to c…
Robotic Grasping of Fully-Occluded Objects using RF Perception
Tara Boroushaki, Junshan Leng, Ian Clester +2
We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior sys…
INeRF: Inverting Neural Radiance Fields for Pose Estimation
Lin Yen-Chen, Pete Florence, Jonathan T. Barron +3
We present iNeRF, a framework that performs mesh-free pose estimation by "inverting" a Neural RadianceField (NeRF). NeRFs have been shown to be remarkably effective for the task of…
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Anthony Simeonov, Yilun Du, Beomjoon Kim +4
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior…
Tactile SLAM: Real-time inference of shape and pose from planar pushing
Sudharshan Suresh, Maria Bauza, Kuan-Ting Yu +3
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also acco…
Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners
Nima Fazeli, Anurag Ajay, Alberto Rodriguez
The ability to simulate and predict the outcome of contacts is paramount to the successful execution of many robotic tasks. Simulators are powerful tools for the design of robots a…