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07/10/2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
We propose a system for rearranging objects in a scene to achieve a desi...
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02/07/2023
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
A robot operating in a household environment will see a wide range of un...
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12/12/2022
MIRA: Mental Imagery for Robotic Affordances
Humans form mental images of 3D scenes to support counterfactual imagina...
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11/17/2022
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
We present a method for performing tasks involving spatial relations bet...
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12/09/2021
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
We present Neural Descriptor Fields (NDFs), an object representation tha...
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11/16/2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
We present a framework for solving long-horizon planning problems involv...
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07/13/2019