65 citations · 476 across the 71 of their papers we have counts for
11 papers · 1 filter
Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans
Homanga Bharadhwaj, Abhinav Gupta, Vikash Kumar +1
We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos ca…
Diffusion-Guided Reconstruction of Everyday Hand-Object Interaction Clips
Yufei Ye, Poorvi Hebbar, Abhinav Gupta +1
We tackle the task of reconstructing hand-object interactions from short video clips. Given an input video, our approach casts 3D inference as a per-video optimization and recovers…
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma +3
The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datase…
Analogy-Forming Transformers for Few-Shot 3D Parsing
Nikolaos Gkanatsios, Mayank Singh, Zhaoyuan Fang +2
We present Analogical Networks, a model that encodes domain knowledge explicitly, in a collection of structured labelled 3D scenes, in addition to implicitly, as model parameters,…
Visual Affordance Prediction for Guiding Robot Exploration
Homanga Bharadhwaj, Abhinav Gupta, Shubham Tulsiani
Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen s…
RelPose++: Recovering 6D Poses from Sparse-view Observations
Amy Lin, Jason Y. Zhang, Deva Ramanan +1
We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstru…
Mesh2Tex: Generating Mesh Textures from Image Queries
Alexey Bokhovkin, Shubham Tulsiani, Angela Dai
Remarkable advances have been achieved recently in learning neural representations that characterize object geometry, while generating textured objects suitable for downstream appl…
Affordance Diffusion: Synthesizing Hand-Object Interactions
Yufei Ye, Xueting Li, Abhinav Gupta +5
Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for syn…
Manipulate by Seeing: Creating Manipulation Controllers from Pre-Trained Representations
Jianren Wang, Sudeep Dasari, Mohan Kumar Srirama +2
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic…
Zero-Shot Robot Manipulation from Passive Human Videos
Homanga Bharadhwaj, Abhinav Gupta, Shubham Tulsiani +1
Can we learn robot manipulation for everyday tasks, only by watching videos of humans doing arbitrary tasks in different unstructured settings? Unlike widely adopted strategies of…
Geometry-biased Transformers for Novel View Synthesis
Naveen Venkat, Mayank Agarwal, Maneesh Singh +1
We tackle the task of synthesizing novel views of an object given a few input images and associated camera viewpoints. Our work is inspired by recent 'geometry-free' approaches whe…