4 citations · 8 across the 7 of their papers we have counts for
7 papers
GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
Saumya Saxena, Blake Buchanan, Chris Paxton +6
In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem…
MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models
Saumya Saxena, Mohit Sharma, Oliver Kroemer
Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks. Multi-spatial resolution sensing provides hiera…
Dynamic Inference on Graphs using Structured Transition Models
Saumya Saxena, Oliver Kroemer
Enabling robots to perform complex dynamic tasks such as picking up an object in one sweeping motion or pushing off a wall to quickly turn a corner is a challenging problem. The dy…
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang, Mohit Sharma, Alex LaGrassa +3
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the s…
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models
Saumya Saxena, Alex LaGrassa, Oliver Kroemer
Humans leverage the dynamics of the environment and their own bodies to accomplish challenging tasks such as grasping an object while walking past it or pushing off a wall to turn…
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Jacky Liang, Saumya Saxena, Oliver Kroemer
Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through d…
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman +6
In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location…