70 citations · 189 across the 28 of their papers we have counts for
7 papers · 2 filters
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
Weiyu Liu, Yilun Du, Tucker Hermans +2
Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we…
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory
Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto +2
We propose CLIP-Fields, an implicit scene model that can be used for a variety of tasks, such as segmentation, instance identification, semantic search over space, and view localiz…
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang +6
We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasp…
Correcting Robot Plans with Natural Language Feedback
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis +5
When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these case…
Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton +4
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handover…
Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Hongtao Wu, Jikai Ye, Xin Meng +2
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propos…