4 citations · 14 across the 11 of their papers we have counts for
12 papers
Interactive Perception for Deformable Object Manipulation
Zehang Weng, Peng Zhou, Hang Yin +4
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to…
Learning Geometric Representations of Objects via Interaction
Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin +2
We address the problem of learning representations from observations of a scene involving an agent and an external object the agent interacts with. To this end, we propose a repres…
An Efficient and Continuous Voronoi Density Estimator
Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava +2
We introduce a non-parametric density estimator deemed Radial Voronoi Density Estimator (RVDE). RVDE is grounded in the geometry of Voronoi tessellations and as such benefits from…
Equivariant Representation Learning via Class-Pose Decomposition
Giovanni Luca Marchetti, Gustaf Tegnér, Anastasiia Varava +1
We introduce a general method for learning representations that are equivariant to symmetries of data. Our central idea is to decompose the latent space into an invariant factor an…
Active Nearest Neighbor Regression Through Delaunay Refinement
Alexander Kravberg, Giovanni Luca Marchetti, Vladislav Polianskii +3
We introduce an algorithm for active function approximation based on nearest neighbor regression. Our Active Nearest Neighbor Regressor (ANNR) relies on the Voronoi-Delaunay framew…
Voronoi Density Estimator for High-Dimensional Data: Computation, Compactification and Convergence
Vladislav Polianskii, Giovanni Luca Marchetti, Alexander Kravberg +3
The Voronoi Density Estimator (VDE) is an established density estimation technique that adapts to the local geometry of data. However, its applicability has been so far limited to…
Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects
Zehang Weng, Fabian Paus, Anastasiia Varava +3
Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deform…
Sequential Topological Representations for Predictive Models of Deformable Objects
Rika Antonova, Anastasiia Varava, Peiyang Shi +2
Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting,…
Fashion Landmark Detection and Category Classification for Robotics
Thomas Ziegler, Judith Butepage, Michael C. Welle +3
Research on automated, image based identification of clothing categories and fashion landmarks has recently gained significant interest due to its potential impact on areas such as…
Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation
Martina Lippi, Petra Poklukar, Michael C. Welle +4
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed…
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection
Anastasiia Varava, J. Frederico Carvalho, Danica Kragic +1
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact…
A Decomposition-Based Approach to Reasoning about Free Space Path-Connectivity for Rigid Objects in 2D
Anastasiia Varava, J. Frederico Carvalho, Danica Kragic +1
In this paper, we compute a conservative approximation of the path-connected components of the free space of a rigid object in a 2D workspace in order to solve two closely related…