S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency

30 September 2020

Papers citing "S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency"

33 / 33 papers shown

Title
Semi-Supervised Neural Processes for Articulated Object Interactions Emily Liu Michael Noseworthy Nicholas Roy 83 0 0 28 Nov 2024
Cycle-Correspondence Loss: Learning Dense View-Invariant Visual Features from Unlabeled and Unordered RGB Images David B. Adrian A. Kupcsik Markus Spies Heiko Neumann SSL 34 0 0 18 Jun 2024
WeightedPose: Generalizable Cross-Pose Estimation via Weighted SVD Xuxin Cheng Heng Yu Harry Zhang Wenxing Deng 44 0 0 03 May 2024
Reinforcement Learning with Generalizable Gaussian Splatting Jiaxu Wang Qiang Zhang Jingkai Sun Jiahang Cao Yecheng Shao Renjing Xu 3DGS OffRL 34 2 0 18 Mar 2024
DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models Norman Di Palo Edward Johns LM&Ro 42 27 0 20 Feb 2024
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation Chia-Liang Kuo Yu-Wei Chao Yi-Ting Chen 38 1 0 08 Dec 2023
Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models Iman Nematollahi Kirill Yankov Wolfram Burgard Tim Welschehold 31 0 0 23 Oct 2023
Learning Generalizable Agents via Saliency-Guided Features Decorrelation Sili Huang Yanchao Sun Jifeng Hu Siyuan Guo Hechang Chen Yi-Ju Chang Lichao Sun Bo Yang 26 5 0 08 Oct 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 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 64 47 0 30 Aug 2023
One-shot Imitation Learning via Interaction Warping Ondrej Biza Skye Thompson Kishore Reddy Pagidi Abhinav Kumar Elise van der Pol Robin Walters Thomas Kipf Jan-Willem van de Meent Lawson L. S. Wong Robert W. Platt 35 13 0 21 Jun 2023
The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation Jan Ole von Hartz Eugenio Chisari Tim Welschehold Wolfram Burgard Joschka Boedecker Abhinav Valada SSL 32 13 0 08 May 2023
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation Chuer Pan Brian Okorn Harry Zhang Ben Eisner David Held 33 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
Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds Minghua Liu Xuanlin Li Z. Ling Yangyan Li Hao Su 38 31 0 14 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 113 26 0 28 Sep 2022
Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs Junchi Liang Abdeslam Boularias 3DPC 35 8 0 13 Sep 2022
Learning Dense Visual Descriptors using Image Augmentations for Robot Manipulation Tasks Christian Graf David B. Adrian Joshua Weil Miroslav Gabriel Philipp Schillinger Markus Spies Heiko Neumann A. Kupcsik SSL 35 6 0 12 Sep 2022
Graph Inverse Reinforcement Learning from Diverse Videos Sateesh Kumar Jonathan Zamora Nicklas Hansen Rishabh Jangir Xiaolong Wang 35 53 0 28 Jul 2022
Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning Mhairi Dunion Trevor A. McInroe K. Luck Josiah P. Hanna Stefano V. Albrecht OOD DRL 28 18 0 12 Jul 2022
Efficient and Robust Training of Dense Object Nets for Multi-Object Robot Manipulation David B. Adrian A. Kupcsik Markus Spies Heiko Neumann 3DPC 51 7 0 24 Jun 2022
Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training Rajat Talak Lisa Peng Luca Carlone 3DPC 38 8 0 22 Jun 2022
KeyCLD: Learning Constrained Lagrangian Dynamics in Keypoint Coordinates from Images Rembert Daems Jeroen Taets Francis Wyffels Guillaume Crevecoeur 29 1 0 22 Jun 2022
Reinforcement Learning with Neural Radiance Fields Danny Driess Ingmar Schubert Peter R. Florence Yunzhu Li Marc Toussaint AI4CE 49 51 0 03 Jun 2022
Learning Keypoints from Synthetic Data for Robotic Cloth Folding Thomas Lips Victor-Louis De Gusseme Francis Wyffels 24 11 0 13 May 2022
Review of Metrics to Measure the Stability, Robustness and Resilience of Reinforcement Learning L. Pullum 21 2 0 22 Mar 2022
Sim2Real Object-Centric Keypoint Detection and Description Chengliang Zhong Chao Yang Ji Qi Gang Hua Huaping Liu Xiaodong Mu Wenbing Huang 3DPC 34 11 0 01 Feb 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 24 90 0 30 Jan 2022
Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses Kenneth Blomqvist Jen Jen Chung Lionel Ott Roland Siegwart 3DPC 29 6 0 19 Jan 2022
Few-Shot Keypoint Detection as Task Adaptation via Latent Embeddings Mel Vecerík Jackie Kay R. Hadsell Lourdes Agapito Jonathan Scholz 23 3 0 09 Dec 2021
Fully Self-Supervised Class Awareness in Dense Object Descriptors Denis Hadjivelichkov Dimitrios Kanoulas 19 8 0 05 Oct 2021
Supervised Training of Dense Object Nets using Optimal Descriptors for Industrial Robotic Applications A. Kupcsik Markus Spies Alexander Klein M. Todescato Nicolai Waniek Philipp Schillinger Mathias Buerger 23 11 0 16 Feb 2021
Machine Learning for Robotic Manipulation Q. Vuong OOD 33 2 0 04 Jan 2021