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08/02/2023
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
We present the HANDAL dataset for category-level object pose estimation ...
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03/29/2023
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation
Test-time adaptation methods have been gaining attention recently as a p...
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03/24/2023
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
We present a near real-time method for 6-DoF tracking of an unknown obje...
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12/13/2022
MegaPose: 6D Pose Estimation of Novel Objects via Render Compare
We introduce MegaPose, a method to estimate the 6D pose of novel objects...
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10/21/2022
Neural Fields for Robotic Object Manipulation from a Single Image
We present a unified and compact representation for object rendering, 3D...
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10/18/2022
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
We present a parallelized optimization method based on fast Neural Radia...
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09/22/2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the wor...
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06/15/2022
Variable Bitrate Neural Fields
Neural approximations of scalar and vector fields, such as signed distan...
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05/23/2022
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
We propose a single-stage, category-level 6-DoF pose estimation algorith...
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05/14/2022
RTMV: A Ray-Traced Multi-View Synthetic Dataset for Novel View Synthesis
We present a large-scale synthetic dataset for novel view synthesis cons...
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03/11/2022
6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
We present a new dataset for 6-DoF pose estimation of known objects, wit...
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12/21/2021
Watch It Move: Unsupervised Discovery of 3D Joints for Re-Posing of Articulated Objects
Rendering articulated objects while controlling their poses is critical ...
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12/15/2021
Efficient Geometry-aware 3D Generative Adversarial Networks
Unsupervised generation of high-quality multi-view-consistent images and...
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09/13/2021
Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image
Prior work on 6-DoF object pose estimation has largely focused on instan...
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05/28/2021
NViSII: A Scriptable Tool for Photorealistic Image Generation
We present a Python-based renderer built on NVIDIA's OptiX ray tracing e...
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04/09/2021
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
We introduce DexYCB, a new dataset for capturing hand grasping of object...
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03/25/2021
Multi-view Fusion for Multi-level Robotic Scene Understanding
We present a system for multi-level scene awareness for robotic manipula...
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12/14/2020
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
We present a visually grounded hierarchical planning algorithm for long-...
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11/16/2020
Fast Uncertainty Quantification for Deep Object Pose Estimation
Deep learning-based object pose estimators are often unreliable and over...
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11/12/2020
Joint Space Control via Deep Reinforcement Learning
The dominant way to control a robot manipulator uses hand-crafted differ...
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08/26/2020
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
We present a robotic grasping system that uses a single external monocul...
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05/21/2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning
Traditional robotic approaches rely on an accurate model of the environm...
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05/02/2020
PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly Randomized Synthetic Data
In comparison with person re-identification (ReID), which has been widel...
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11/21/2019
Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
Using simulation to train robot manipulation policies holds the promise ...
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11/21/2019
Camera-to-Robot Pose Estimation from a Single Image
We present an approach for estimating the pose of a camera with respect ...
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09/04/2019
Directional Semantic Grasping of Real-World Objects: From Simulation to Reality
We present a deep reinforcement learning approach to grasp semantically ...
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05/13/2019
Few-Shot Viewpoint Estimation
Viewpoint estimation for known categories of objects has been improved s...
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09/27/2018
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
Using synthetic data for training deep neural networks for robotic manip...
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05/18/2018
Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
We present a system to infer and execute a human-readable program from a...
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04/18/2018
Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation
We present a new dataset, called Falling Things (FAT), for advancing the...
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04/18/2018