31 citations · 82 across the 14 of their papers we have counts for
5 papers · 1 filter
AutoBag: Learning to Open Plastic Bags and Insert Objects
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita +4
Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularitie…
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu +6
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing…
ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization
Muhammad Zubair Irshad, Sergey Zakharov, Rares Ambrus +3
Our method studies the complex task of object-centric 3D understanding from a single RGB-D observation. As it is an ill-posed problem, existing methods suffer from low performance…
Efficiently Learning Single-Arm Fling Motions to Smooth Garments
Lawrence Yunliang Chen, Huang Huang, Ellen Novoseller +6
Recent work has shown that 2-arm "fling" motions can be effective for garment smoothing. We consider single-arm fling motions. Unlike 2-arm fling motions, which require little robo…
CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
Muhammad Zubair Irshad, Thomas Kollar, Michael Laskey +2
This paper studies the complex task of simultaneous multi-object 3D reconstruction, 6D pose and size estimation from a single-view RGB-D observation. In contrast to instance-level…