kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation

15 March 2019

Papers citing "kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation"

50 / 175 papers shown

Title
Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks Haonan Chen Yilong Niu Kaiwen Hong Shuijing Liu Yixuan Wang Yunzhu Li Katherine Driggs-Campbell 43 13 0 28 Sep 2023
ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goals Jeremy Collins C. Houff You Liang Tan Charles C. Kemp 8 4 0 21 Sep 2023
CLIPUNetr: Assisting Human-robot Interface for Uncalibrated Visual Servoing Control with CLIP-driven Referring Expression Segmentation Chen Jiang Yuchen Yang Martin Jägersand 29 1 0 17 Sep 2023
Gradient based Grasp Pose Optimization on a NeRF that Approximates Grasp Success Gergely Sóti Björn Hein C. Wurll 27 3 0 14 Sep 2023
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning Phillip Grote Joaquim Ortiz de Haro Marc Toussaint Ozgur S. Oguz 200 1 0 14 Sep 2023
A Reinforcement Learning Approach for Robotic Unloading from Visual Observations Vittorio Giammarino A. Giammarino Matthew Pearce OffRL SSL 25 2 0 12 Sep 2023
3D Implicit Transporter for Temporally Consistent Keypoint Discovery Chengliang Zhong Yuhang Zheng Yupeng Zheng Hao Zhao Li Yi ... Pengfei Li Guyue Zhou Chao Yang Xinliang Zhang Jian Zhao 3DPC 27 15 0 10 Sep 2023
RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation Mel Vecerík Carl Doersch Yi Yang Todor Davchev Y. Aytar Guangyao Zhou R. Hadsell Lourdes Agapito Jonathan Scholz 56 47 0 30 Aug 2023
Leveraging Symmetries in Pick and Place Hao-zhe Huang Dian Wang Arsh Tangri Robin G. Walters Robert W. Platt 35 14 0 15 Aug 2023
Grasp Transfer based on Self-Aligning Implicit Representations of Local Surfaces Ahmet E. Tekden M. Deisenroth Yasemin Bekiroglu 23 5 0 15 Aug 2023
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception Samuel Ubellacker Aaron Ray James M. Bern Jared Strader Luca Carlone 24 1 0 11 Aug 2023
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields Dominic Maggio C. Mario Luca Carlone 31 3 0 11 Aug 2023
"Tidy Up the Table": Grounding Common-sense Objective for Tabletop Object Rearrangement Yiqing Xu David Hsu LM&Ro LMTD 34 0 0 21 Jul 2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement Anthony Simeonov Ankit Goyal Lucas Manuelli Lin Yen-Chen Alina Sarmiento Alberto Rodriguez Pulkit Agrawal D. Fox DiffM 44 38 0 10 Jul 2023
KITE: Keypoint-Conditioned Policies for Semantic Manipulation Priya Sundaresan Suneel Belkhale Dorsa Sadigh Jeannette Bohg LM&Ro 28 24 0 29 Jun 2023
Learning to Grasp Clothing Structural Regions for Garment Manipulation Tasks Wei Chen Dongmyoung Lee Digby Chappell Nicolás Rojas 16 11 0 26 Jun 2023
One-shot Imitation Learning via Interaction Warping Ondrej Biza Skye Thompson Kishore Reddy Pagidi Abhinav Kumar Elise van der Pol Robin G. Walters Thomas Kipf Jan-Willem van de Meent Lawson L. S. Wong Robert W. Platt 30 13 0 21 Jun 2023
A Universal Semantic-Geometric Representation for Robotic Manipulation Tong Zhang Yingdong Hu Hanchen Cui Hang Zhao Yang Gao 70 17 0 18 Jun 2023
Multi-Object Manipulation via Object-Centric Neural Scattering Functions Stephen Tian Yancheng Cai Hong-Xing Yu Sergey Zakharov Katherine Liu Adrien Gaidon Yunzhu Li Jiajun Wu OCL 13 11 0 14 Jun 2023
Self-Supervised Learning of Action Affordances as Interaction Modes Liquang Wang Nikita Dvornik R. Dubeau Mayank Mittal Animesh Garg SSL 26 3 0 27 May 2023
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example Walter Goodwin Ioannis Havoutis Ingmar Posner 33 10 0 22 May 2023
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement N. Gkanatsios Ayush Jain Zhou Xian Yunchu Zhang C. Atkeson Katerina Fragkiadaki LM&Ro 98 31 0 27 Apr 2023
Learning to Extrapolate: A Transductive Approach Aviv Netanyahu Abhishek Gupta Max Simchowitz Kaipeng Zhang Pulkit Agrawal 49 15 0 27 Apr 2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization Glen Chou Russ Tedrake 20 2 0 24 Apr 2023
Decoupling Dynamic Monocular Videos for Dynamic View Synthesis Meng You Junhui Hou 20 8 0 04 Apr 2023
Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation Heng Yang Marco Pavone 36 35 0 22 Mar 2023
Recent Advances of Deep Robotic Affordance Learning: A Reinforcement Learning Perspective Xintong Yang Ze Ji Jing Wu Yunyu Lai 33 12 0 09 Mar 2023
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric Albert H. Li Preston Culbertson J. W. Burdick Aaron D. Ames OffRL 33 14 0 27 Feb 2023
Train What You Know -- Precise Pick-and-Place with Transporter Networks Gergely Sóti Xi Huang C. Wurll B. Hein 27 6 0 17 Feb 2023
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation Ethan Chun Yilun Du Anthony Simeonov Tomas Lozano-Perez L. Kaelbling 32 24 0 07 Feb 2023
HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios Hyunjun Jung Guangyao Zhai Shun-cheng Wu Patrick Ruhkamp Hannah Schieber ... Lorenzo Garattoni Sven Meier Daniel Roth Nassir Navab Benjamin Busam 3DV 24 20 0 20 Dec 2022
MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare Yann Labbé Lucas Manuelli Arsalan Mousavian Stephen Tyree Stan Birchfield Jonathan Tremblay Justin Carpentier Mathieu Aubry D. Fox Josef Sivic 35 128 0 13 Dec 2022
MIRA: Mental Imagery for Robotic Affordances Lin Yen-Chen Pete Florence Andy Zeng Jonathan T. Barron Yilun Du Wei-Chiu Ma Anthony Simeonov Alberto Rodriguez Garcia Phillip Isola LM&Ro 29 33 0 12 Dec 2022
Deep Projective Rotation Estimation through Relative Supervision Brian Okorn Chuer Pan M. Hebert David Held 39 1 0 21 Nov 2022
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields Anthony Simeonov Yilun Du Lin Yen-Chen Alberto Rodriguez L. Kaelbling Tomas Lozano-Perez Pulkit Agrawal 34 52 0 17 Nov 2022
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation Chuer Pan Brian Okorn Harry Zhang Ben Eisner David Held 30 57 0 17 Nov 2022
TAP-Vid: A Benchmark for Tracking Any Point in a Video Carl Doersch Ankush Gupta L. Markeeva Adrià Recasens Lucas Smaira Y. Aytar João Carreira Andrew Zisserman Yezhou Yang 35 153 0 07 Nov 2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu LM&Ro 30 124 0 20 Oct 2022
Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing Luca Lach Niklas Funk R. Haschke Séverin Lemaignan Helge J. Ritter Jan Peters Georgia Chalvatzaki 29 11 0 05 Oct 2022
NARF22: Neural Articulated Radiance Fields for Configuration-Aware Rendering Stanley Lewis Jana Pavlasek Odest Chadwicke Jenkins AI4CE 56 7 0 03 Oct 2022
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation Zhengrong Xue Zhecheng Yuan Jiashun Wang Xueqian Wang Yang Gao Huazhe Xu 3DPC 105 26 0 28 Sep 2022
Unsupervised Reward Shaping for a Robotic Sequential Picking Task from Visual Observations in a Logistics Scenario Vittorio Giammarino Andrew J Meyer Kai Biegun OffRL 19 0 0 25 Sep 2022
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields Dominic Maggio Marcus Abate J. Shi C. Mario Luca Carlone 53 83 0 19 Sep 2022
Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs Junchi Liang Abdeslam Boularias 3DPC 27 8 0 13 Sep 2022
Learning A Locally Unified 3D Point Cloud for View Synthesis Meng You Mantang Guo Xianqiang Lyu Hui Liu Junhui Hou 3DPC 17 2 0 12 Sep 2022
NeuralBF: Neural Bilateral Filtering for Top-down Instance Segmentation on Point Clouds Weiwei Sun Daniel Rebain Renjie Liao V. Tankovich S. Yazdani K. M. Yi Andrea Tagliasacchi 3DPC 15 13 0 20 Jul 2022
$Image to Icosahedral Projection for $\mathrm{SO}(3)$ Object Reasoning from Single-View Images$ Image to Icosahedral Projection for $\mathrm{SO}(3)$ Object Reasoning from Single-View Images David M. Klee Ondrej Biza Robert W. Platt Robin G. Walters 26 4 0 18 Jul 2022
Deep Learning Approaches to Grasp Synthesis: A Review Rhys Newbury Morris Gu Lachlan Chumbley Arsalan Mousavian Clemens Eppner ... A. Morales Tamim Asfour Danica Kragic D. Fox Akansel Cosgun 34 162 0 06 Jul 2022
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints J. Shi Heng Yang Luca Carlone 3DPC 3DV 19 12 0 24 Jun 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H. Suh Lujie Yang Russ Tedrake 42 58 0 22 Jun 2022