3 papers
cs.RO2025
VBM-NET: Visual Base Pose Learning for Mobile Manipulation using Equivariant TransporterNet and GNNs
Lakshadeep Naik, Adam Fischer, Daniel Duberg +1
In Mobile Manipulation, selecting an optimal mobile base pose is essential for successful object grasping. Previous works have addressed this problem either through classical plann…
cs.RO2024
BaSeNet: A Learning-based Mobile Manipulator Base Pose Sequence Planning for Pickup Tasks
Lakshadeep Naik, Sinan Kalkan, Sune L. Sørensen +2
In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must pla…
cs.RO2024
Robotic Task Success Evaluation Under Multi-modal Non-Parametric Object Pose Uncertainty
Lakshadeep Naik, Thorbjørn Mosekjær Iversen, Aljaz Kramberger +1
Accurate 6D object pose estimation is essential for various robotic tasks. Uncertain pose estimates can lead to task failures; however, a certain degree of error in the pose estima…