A review of robot learning for manipulation: Challenges, representations, and algorithms
A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …
interacting with the world around them to achieve their goals. The last decade has seen …
Foundationpose: Unified 6d pose estimation and tracking of novel objects
We present FoundationPose a unified foundation model for 6D object pose estimation and
tracking supporting both model-based and model-free setups. Our approach can be instantly …
tracking supporting both model-based and model-free setups. Our approach can be instantly …
PoseRBPF: A Rao–Blackwellized particle filter for 6-D object pose tracking
Tracking 6-D poses of objects from videos provides rich information to a robot in performing
different tasks such as manipulation and navigation. In this article, we formulate the 6-D …
different tasks such as manipulation and navigation. In this article, we formulate the 6-D …
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 …
6-pack: Category-level 6d pose tracker with anchor-based keypoints
We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on
RGB-D data. Our method tracks in real time novel object instances of known object …
RGB-D data. Our method tracks in real time novel object instances of known object …
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 …
Iterative corresponding geometry: Fusing region and depth for highly efficient 3d tracking of textureless objects
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in
computer vision. State-of-the-art approaches often rely on object texture to tackle this …
computer vision. State-of-the-art approaches often rely on object texture to tackle this …
Object-centric task and motion planning in dynamic environments
T Migimatsu, J Bohg - IEEE Robotics and Automation Letters, 2020 - ieeexplore.ieee.org
We address the problem of applying Task and Motion Planning (TAMP) in real world
environments. TAMP combines symbolic and geometric reasoning to produce sequential …
environments. TAMP combines symbolic and geometric reasoning to produce sequential …
Soft-bubble grippers for robust and perceptive manipulation
N Kuppuswamy, A Alspach… - 2020 IEEE/RSJ …, 2020 - ieeexplore.ieee.org
Manipulation in cluttered environments like homes requires stable grasps, precise
placement and robustness against external contact. Towards addressing these challenges …
placement and robustness against external contact. Towards addressing these challenges …
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 …