Gras** is the process of picking up an object by applying forces and torques at a set of
contacts. Recent advances in deep learning methods have allowed rapid progress in robotic …

This paper presents a comprehensive survey on vision-based robotic gras**. We
conclude three key tasks during vision-based robotic gras**, which are object localization …

Transformers have revolutionized vision and natural language processing with their ability to
scale with large datasets. But in robotic manipulation, data is both limited and expensive …

Abstract We introduce Habitat 2.0 (H2. 0), a simulation platform for training virtual robots in
interactive 3D environments and complex physics-enabled scenarios. We make …

It is a long-standing problem in robotics to develop agents capable of executing diverse
manipulation tasks from visual observations in unstructured real-world environments. To …

Multi-objective optimization problems are ubiquitous in robotics, eg, the optimization of a
robot manipulation task requires a joint consideration of grasp pose configurations …

Gras** unseen objects in unconstrained, cluttered environments is an essential skill for
autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning …

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a
wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile …

We introduce ACRONYM, a dataset for robot grasp planning based on physics simulation.
The dataset contains 17.7 M parallel-jaw grasps, spanning 8872 objects from 262 different …

One of the fundamental goals of visual perception is to allow agents to meaningfully interact
with their environment. In this paper, we take a step towards that long-term goal--we extract …