16 citations · 57 across the 46 of their papers we have counts for
4 papers · 1 filter
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…