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07/25/2023
GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping
Task-oriented grasping (TOG) refers to the problem of predicting grasps ...
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05/18/2023
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
Objects rarely sit in isolation in everyday human environments. If we wa...
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02/28/2023
Task-Oriented Grasp Prediction with Visual-Language Inputs
To perform household tasks, assistive robots receive commands in the for...
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11/08/2022
StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects
Robots operating in human environments must be able to rearrange objects...
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10/19/2021
StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
Geometric organization of objects into semantically meaningful arrangeme...
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05/10/2021
Towards Robust One-shot Task Execution using Knowledge Graph Embeddings
Requiring multiple demonstrations of a task plan presents a burden to en...
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01/28/2020
Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks
Robot task execution when situated in real-world environments is fragile...
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09/24/2019
CAGE: Context-Aware Grasping Engine
Semantic grasping is the problem of selecting stable grasps that are fun...
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05/29/2019
Leveraging Semantics for Incremental Learning in Multi-Relational Embeddings
Prior work has shown that the multi-relational embedding objective can b...
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05/26/2019
Path Ranking with Attention to Type Hierarchies
The knowledge base completion problem is the problem of inferring missin...
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03/01/2019