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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 robot manipulation. Most
prior efforts, however, often assume that the target object's CAD model, at least at a category …
prior efforts, however, often assume that the target object's CAD model, at least at a category …
Unseen object instance segmentation for robotic environments
In order to function in unstructured environments, robots need the ability to recognize
unseen objects. We take a step in this direction by tackling the problem of segmenting …
unseen objects. We take a step in this direction by tackling the problem of segmenting …
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 robot manipulation. This
task, however, introduces multiple challenges:(i) robot manipulation involves significant …
task, however, introduces multiple challenges:(i) robot manipulation involves significant …
Long-horizon manipulation of unknown objects via task and motion planning with estimated affordances
We present a strategy for designing and building very general robot manipulation systems
using a general-purpose task-and-motion planner with both engineered and learned …
using a general-purpose task-and-motion planner with both engineered and learned …
Vision-driven compliant manipulation for reliable, high-precision assembly tasks
Highly constrained manipulation tasks continue to be challenging for autonomous robots as
they require high levels of precision, typically less than 1mm, which is often incompatible …
they require high levels of precision, typically less than 1mm, which is often incompatible …
Robotic replacement for disc cutters in tunnel boring machines
Disc cutters are representative cutting tools in tunnel boring machines (TBMs). They are
installed at the cutter head of the TBM to disintegrate rocks during tunnel boring. Disc cutters …
installed at the cutter head of the TBM to disintegrate rocks during tunnel boring. Disc cutters …
Reorientbot: Learning object reorientation for specific-posed placement
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the
world and achieve various valuable tasks. Object reorientation plays a crucial role in this as …
world and achieve various valuable tasks. Object reorientation plays a crucial role in this as …
Robotic pick-and-place with uncertain object instance segmentation and shape completion
We consider robotic pick-and-place of partially visible, novel objects, where goal placements
are non-trivial, eg, tightly packed into a bin. One approach is (a) use object instance …
are non-trivial, eg, tightly packed into a bin. One approach is (a) use object instance …
Rice: Refining instance masks in cluttered environments with graph neural networks
Segmenting unseen object instances in cluttered environments is an important capability
that robots need when functioning in unstructured environments. While previous methods …
that robots need when functioning in unstructured environments. While previous methods …
[HTML][HTML] Augmented reality-based interface for bimanual robot teleoperation
Teleoperation of bimanual robots is being used to carry out complex tasks such as surgeries
in medicine. Despite the technological advances, current interfaces are not natural to the …
in medicine. Despite the technological advances, current interfaces are not natural to the …