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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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06/21/2022
Vicinity Vision Transformer
Vision transformers have shown great success on numerous computer vision...
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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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09/23/2021
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
Predicting the future motion of traffic agents is crucial for safe and e...
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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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04/01/2021
Deep Two-View Structure-from-Motion Revisited
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruc...
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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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12/01/2020
Displacement-Invariant Cost Computation for Efficient Stereo Matching
Although deep learning-based methods have dominated stereo matching lead...
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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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08/25/2020
Improving Deep Stereo Network Generalization with Geometric Priors
End-to-end deep learning methods have advanced stereo vision in recent y...
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07/25/2020
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Generating robot motion for multiple tasks in dynamic environments is ch...
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06/09/2020
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
Autonomous driving requires the inference of actionable information such...
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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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10/07/2019
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Teleoperation offers the possibility of imparting robotic systems with s...
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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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03/21/2019
CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identification
Urban traffic optimization using traffic cameras as sensors is driving t...
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11/16/2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation
We develop a novel policy synthesis algorithm, RMPflow, based on geometr...
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10/23/2018
Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data
We present structured domain randomization (SDR), a variant of domain ra...
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10/15/2018
Robust Learning of Tactile Force Estimation through Robot Interaction
Current methods for estimating force from tactile sensor signals are eit...
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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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07/04/2018
Region Growing Curriculum Generation for Reinforcement Learning
Learning a policy capable of moving an agent between any two states in t...
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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
Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization
We present a system for training deep neural networks for object detecti...
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03/26/2018
On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach
We revisit the problem of visual depth estimation in the context of auto...
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01/26/2018
Efficient Hierarchical Graph-Based Segmentation of RGBD Videos
We present an efficient and scalable algorithm for segmenting 3D RGBD po...
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08/02/2017