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05/17/2023
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
We introduce Reactive Action and Motion Planner (RAMP), which combines t...
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05/16/2023
Real-time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction
Robotic manipulation systems operating in complex environments rely on p...
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04/08/2023
Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
The choice of a grasp plays a critical role in the success of downstream...
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09/12/2022
Self-supervised Wide Baseline Visual Servoing via 3D Equivariance
One of the challenging input settings for visual servoing is when the in...
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03/20/2021
Learning Continuous Cost-to-Go Functions for Non-holonomic Systems
This paper presents a supervised learning method to generate continuous ...
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12/10/2020
Cost-to-Go Function Generating Networks for High Dimensional Motion Planning
This paper presents c2g-HOF networks which learn to generate cost-to-go ...
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10/27/2020
Learning to Generate Cost-to-Go Functions for Efficient Motion Planning
Traditional motion planning is computationally burdensome for practical ...
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04/05/2019
Pixels to Plans: Learning Non-Prehensile Manipulation by Imitating a Planner
We present a novel method enabling robots to quickly learn to manipulate...
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01/01/2019
Probabilistically Safe Corridors to Guide Sampling-Based Motion Planning
In this paper, we introduce a new probabilistically safe local steering ...
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06/06/2018