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08/02/2023
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
We present the HANDAL dataset for category-level object pose estimation ...
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03/29/2023
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
Test-time adaptation methods have been gaining attention recently as a p...
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03/24/2023
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
We present a near real-time method for 6-DoF tracking of an unknown obje...
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10/21/2022
Neural Fields for Robotic Object Manipulation from a Single Image
We present a unified and compact representation for object rendering, 3D...
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10/18/2022
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
We present a parallelized optimization method based on fast Neural Radia...
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03/08/2022
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations
This work aims to learn how to perform complex robot manipulation tasks ...
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01/30/2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
Promising results have been achieved recently in category-level manipula...
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01/20/2022
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning
Constraining contacts to remain fixed on an object during manipulation l...
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09/19/2021
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
Task-relevant grasping is critical for industrial assembly, where downst...
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08/01/2021
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
Tracking the 6D pose of objects in video sequences is important for robo...
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06/26/2021
Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks
Highly constrained manipulation tasks continue to be challenging for aut...
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05/29/2021
Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Tracking the 6D pose of objects in video sequences is important for robo...
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07/27/2020
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Tracking the 6D pose of objects in video sequences is important for robo...
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06/28/2020
Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects
Recent progress in robotic manipulation has dealt with the case of previ...
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03/07/2020
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
Many manipulation tasks, such as placement or within-hand manipulation, ...
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10/11/2019