16 citations · 57 across the 46 of their papers we have counts for
39 papers · 1 filter
Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents
Haoran Zhang, Yifu Lu, Boyang Wang +5
Long-horizon tasks are common in real-world robotic deployments, yet failure detection for such tasks remains underexplored. Detecting failures in long-horizon robotic tasks is par…
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…
Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control
Jace Aldrich, Odest Chadwicke Jenkins
This paper introduces a method for Model Predictive Path Integral (MPPI) control that optimizes sample generation towards an optimal trajectory through Stein Variational Gradient D…
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…
SPLATART: Articulated Gaussian Splatting with Estimated Object Structure
Stanley Lewis, Vishal Chandra, Tom Gao +1
Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only…
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…
NARF24: Estimating Articulated Object Structure for Implicit Rendering
Stanley Lewis, Tom Gao, Odest Chadwicke Jenkins
Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various c…
OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding
Edmond Tong, Anthony Opipari, Stanley Lewis +2
In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which act…
ROB 204: Introduction to Human-Robot Systems at the University of Michigan, Ann Arbor
Leia Stirling, Joseph Montgomery, Mark Draelos +3
The University of Michigan Robotics program focuses on the study of embodied intelligence that must sense, reason, act, and work with people to improve quality of life and producti…
MBot: A Modular Ecosystem for Scalable Robotics Education
Peter Gaskell, Jana Pavlasek, Tom Gao +3
The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and…
Stein Variational Belief Propagation for Multi-Robot Coordination
Jana Pavlasek, Joshua Jing Zhi Mah, Ruihan Xu +2
Decentralized coordination for multi-robot systems involves planning in challenging, high-dimensional spaces. The planning problem is particularly challenging in the presence of ob…
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence
Odest Chadwicke Jenkins, Jessy Grizzle, Ella Atkins +6
The Robotics Major at the University of Michigan was successfully launched in the 2022-23 academic year as an innovative step forward to better serve students, our communities, and…
TransNet: Transparent Object Manipulation Through Category-Level Pose Estimation
Huijie Zhang, Anthony Opipari, Xiaotong Chen +3
Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detec…
Counter-Hypothetical Particle Filters for Single Object Pose Tracking
Elizabeth A. Olson, Jana Pavlasek, Jasmine A. Berry +1
Particle filtering is a common technique for six degrees of freedom (6D) pose estimation due to its ability to tractably represent belief over object pose. However, the particle fi…
SEAL: Semantic Frame Execution And Localization for Perceiving Afforded Robot Actions
Cameron Kisailus, Daksh Narang, Matthew Shannon +1
Recent advances in robotic mobile manipulation have spurred the expansion of the operating environment for robots from constrained workspaces to large-scale, human environments. In…
DNBP: Differentiable Nonparametric Belief Propagation
Anthony Opipari, Jana Pavlasek, Chao Chen +3
We present a differentiable approach to learn the probabilistic factors used for inference by a nonparametric belief propagation algorithm. Existing nonparametric belief propagatio…
Optimal Constrained Task Planning as Mixed Integer Programming
Alphonsus Adu-Bredu, Nikhil Devraj, Odest Chadwicke Jenkins
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a spec…
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering
Stanley Lewis, Jana Pavlasek, Odest Chadwicke Jenkins
Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally d…
VLMbench: A Compositional Benchmark for Vision-and-Language Manipulation
Kaizhi Zheng, Xiaotong Chen, Odest Chadwicke Jenkins +1
Benefiting from language flexibility and compositionality, humans naturally intend to use language to command an embodied agent for complex tasks such as navigation and object mani…
ProgressLabeller: Visual Data Stream Annotation for Training Object-Centric 3D Perception
Xiaotong Chen, Huijie Zhang, Zeren Yu +2
Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prov…
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin +2
For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion P…
SeanNet: Semantic Understanding Network for Localization Under Object Dynamics
Xiao Li, Yidong Du, Zhen Zeng +1
We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself i…
Topologically-Informed Atlas Learning
Thomas Cohn, Nikhil Devraj, Odest Chadwicke Jenkins
We present a new technique that enables manifold learning to accurately embed data manifolds that contain holes, without discarding any topological information. Manifold learning a…
Differentiable Nonparametric Belief Propagation
Anthony Opipari, Chao Chen, Shoutian Wang +3
We present a differentiable approach to learn the probabilistic factors used for inference by a nonparametric belief propagation algorithm. Existing nonparametric belief propagatio…