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
Reinforcement Learning with Neural Radiance Fields Danny Driess Ingmar Schubert Peter R. Florence Yunzhu Li Marc Toussaint AI4CE 46 51 0 03 Jun 2022
PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objects Pengyuan Wang Hyunjun Jung Yitong Li Siyuan Shen Rahul Parthasarathy Srikanth Lorenzo Garattoni Sven Meier Nassir Navab Benjamin Busam 11 47 0 18 May 2022
Roman: Making Everyday Objects Robotically Manipulable with 3D-Printable Add-on Mechanisms Jiahao Nick Li Alexis Samoylov Jeeeun Kim Xiuying Chen 28 14 0 16 May 2022
Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations Negin Heravi Ayzaan Wahid Corey Lynch Peter R. Florence Travis Armstrong Jonathan Tompson P. Sermanet Jeannette Bohg Debidatta Dwibedi SSL 59 14 0 12 May 2022
Semantic keypoint-based pose estimation from single RGB frames Karl Schmeckpeper Philip R. Osteen Yufu Wang Georgios Pavlakos Kenneth Chaney Wyatt Jordan Xiaowei Zhou Konstantinos G. Derpanis Kostas Daniilidis 3DH 16 6 0 12 Apr 2022
Zero-Shot Category-Level Object Pose Estimation Walter Goodwin S. Vaze Ioannis Havoutis Ingmar Posner ViT 31 57 0 07 Apr 2022
Generating Task-specific Robotic Grasps Mark Robson Mohan Sridharan 16 0 0 20 Mar 2022
Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objects Chen Zhao Yinlin Hu Mathieu Salzmann 3DPC 19 21 0 16 Mar 2022
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields Lin Yen-Chen Peter R. Florence Jonathan T. Barron Nayeon Lee Alberto Rodriguez Phillip Isola 36 120 0 03 Mar 2022
Generalizable task representation learning from human demonstration videos: a geometric approach Jun Jin Martin Jägersand 11 5 0 28 Feb 2022
ReorientBot: Learning Object Reorientation for Specific-Posed Placement Kentaro Wada Stephen James Andrew J. Davison 29 29 0 22 Feb 2022
End-to-end Reinforcement Learning of Robotic Manipulation with Robust Keypoints Representation Tianying Wang En Yen Puang Marcus Lee Yongpeng Wu Wei Jing SSL 28 5 0 12 Feb 2022
SafePicking: Learning Safe Object Extraction via Object-Level Mapping Kentaro Wada Stephen James Andrew J. Davison 25 13 0 11 Feb 2022
Filtered-CoPhy: Unsupervised Learning of Counterfactual Physics in Pixel Space Steeven Janny Fabien Baradel Natalia Neverova M. Nadri Greg Mori Christian Wolf CML 33 15 0 01 Feb 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 22 90 0 30 Jan 2022
Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task Hao Chen Takuya Kiyokawa Weiwei Wan Kensuke Harada OOD 11 8 0 20 Jan 2022
Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses Kenneth Blomqvist Jen Jen Chung Lionel Ott Roland Siegwart 3DPC 26 6 0 19 Jan 2022
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation Anthony Simeonov Yilun Du Andrea Tagliasacchi J. Tenenbaum Alberto Rodriguez Pulkit Agrawal Vincent Sitzmann 11 238 0 09 Dec 2021
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation Rika Antonova Jingyun Yang Priya Sundaresan D. Fox Fabio Ramos Jeannette Bohg 20 18 0 09 Dec 2021
Few-Shot Keypoint Detection as Task Adaptation via Latent Embeddings Mel Vecerík Jackie Kay R. Hadsell Lourdes Agapito Jonathan Scholz 15 3 0 09 Dec 2021
Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input Jung-Su Ha Danny Driess Marc Toussaint 27 12 0 09 Dec 2021
CLIPort: What and Where Pathways for Robotic Manipulation Mohit Shridhar Lucas Manuelli D. Fox LM&Ro 65 629 0 24 Sep 2021
StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimation Xingyu Liu Shun Iwase Kris M. Kitani 3DV 52 50 0 21 Sep 2021
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 24 74 0 19 Sep 2021
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image Yunzhi Lin Jonathan Tremblay Stephen Tyree Patricio A. Vela Stan Birchfield 39 55 0 13 Sep 2021
3D Neural Scene Representations for Visuomotor Control Yunzhu Li Shuang Li Vincent Sitzmann Pulkit Agrawal Antonio Torralba 27 138 0 08 Jul 2021
RRL: Resnet as representation for Reinforcement Learning Rutav Shah Vikash Kumar OffRL 28 111 0 07 Jul 2021
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo Thomas Kollar Michael Laskey Kevin Stone Brijen Thananjeyan Mark Tjersland 48 25 0 30 Jun 2021
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels Dylan Turpin Liquang Wang Stavros Tsogkas Sven J. Dickinson Animesh Garg 19 26 0 28 Jun 2021
SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimation Haitao Lin Zichang Liu Chi-Hou Cheang Yanwei Fu Guodong Guo Xiangyang Xue 3DPC 26 65 0 27 Jun 2021
Unsupervised Learning of Visual 3D Keypoints for Control Boyuan Chen Pieter Abbeel Deepak Pathak 3DPC SSL 22 39 0 14 Jun 2021
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units Shiyu Jin Diego Romeres Arvind Ragunathan Devesh K. Jha M. Tomizuka 20 25 0 02 Jun 2021
Teat Pose Estimation via RGBD Segmentation for Automated Milking Nicolas Borla Fabian Kuster Jonas Langenegger Juan Ribera M. Honegger G. T. Carughi 20 4 0 20 May 2021
ZePHyR: Zero-shot Pose Hypothesis Rating Brian Okorn Qiao Gu M. Hebert David Held 47 28 0 28 Apr 2021
KeypointDeformer: Unsupervised 3D Keypoint Discovery for Shape Control Tomas Jakab Richard Tucker A. Makadia Jiajun Wu Noah Snavely Angjoo Kanazawa 3DPC 66 56 0 22 Apr 2021
Optimal Pose and Shape Estimation for Category-level 3D Object Perception J. Shi Heng Yang Luca Carlone 31 26 0 16 Apr 2021
OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimation Yifan You Lin Shao Toki Migimatsu Jeannette Bohg 13 19 0 26 Mar 2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes M. Sundermeyer Arsalan Mousavian Rudolph Triebel D. Fox 3DPC 22 354 0 25 Mar 2021
Generalizing Object-Centric Task-Axes Controllers using Keypoints Mohit Sharma Oliver Kroemer 20 5 0 18 Mar 2021
Dynamical Pose Estimation Heng Yang C. Doran Jean-Jacques E. Slotine 16 8 0 10 Mar 2021
Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control Chen Wang Rui Wang Ajay Mandlekar Li Fei-Fei Silvio Savarese Danfei Xu 21 28 0 28 Feb 2021
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation Wei Gao Russ Tedrake 27 71 0 11 Feb 2021
Semantics for Robotic Mapping, Perception and Interaction: A Survey Sourav Garg Niko Sünderhauf Feras Dayoub D. Morrison Akansel Cosgun ... Tat-Jun Chin Ian Reid Stephen Gould Peter Corke Michael Milford 24 115 0 02 Jan 2021
INeRF: Inverting Neural Radiance Fields for Pose Estimation Yen-Chen Lin Peter R. Florence Jonathan T. Barron Alberto Rodriguez Phillip Isola Nayeon Lee 65 450 0 10 Dec 2020
DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects Rahul Sajnani AadilMehdi J. Sanchawala Krishna Murthy Jatavallabhula Srinath Sridhar K. M. Krishna 26 4 0 25 Nov 2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects Anthony Simeonov Yilun Du Beomjoon Kim F. Hogan J. Tenenbaum Pulkit Agrawal Alberto Rodriguez 3DPC 22 49 0 16 Nov 2020
Multi-Modal Learning of Keypoint Predictive Models for Visual Object Manipulation Sarah Bechtle Neha Das Franziska Meier SSL 16 4 0 08 Nov 2020
"What, not how": Solving an under-actuated insertion task from scratch Giulia Vezzani Michael Neunert Markus Wulfmeier Rae Jeong Thomas Lampe Noah Y. Siegel Roland Hafner A. Abdolmaleki Martin Riedmiller F. Nori 13 1 0 29 Oct 2020
Affordance as general value function: A computational model D. Graves Johannes Günther Jun Luo AI4CE 21 6 0 27 Oct 2020
Model-Based Inverse Reinforcement Learning from Visual Demonstrations Neha Das Sarah Bechtle Todor Davchev Dinesh Jayaraman Akshara Rai Franziska Meier 116 82 0 18 Oct 2020