A review of robot learning for manipulation: Challenges, representations, and algorithms
A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …
interacting with the world around them to achieve their goals. The last decade has seen …
Category-level articulated object pose estimation
This paper addresses the task of category-level pose estimation for articulated objects from
a single depth image. We present a novel category-level approach that correctly …
a single depth image. We present a novel category-level approach that correctly …
Captra: Category-level pose tracking for rigid and articulated objects from point clouds
In this work, we tackle the problem of category-level online pose tracking for objects from
point cloud sequences. For the first time, we propose a unified framework that can handle …
point cloud sequences. For the first time, we propose a unified framework that can handle …
A-sdf: Learning disentangled signed distance functions for articulated shape representation
Recent work has made significant progress on using implicit functions, as a continuous
representation for 3D rigid object shape reconstruction. However, much less effort has been …
representation for 3D rigid object shape reconstruction. However, much less effort has been …
Full-body articulated human-object interaction
Fine-grained capture of 3D Human-Object Interactions (HOIs) boosts human activity
understanding and facilitates various downstream visual tasks. Prior models mostly assume …
understanding and facilitates various downstream visual tasks. Prior models mostly assume …
Cla-nerf: Category-level articulated neural radiance field
We propose CLA-NeRF-a Category-Level Articulated Neural Radiance Field that can
perform view synthesis, part segmentation, and articulated pose estimation. CLA-NeRF is …
perform view synthesis, part segmentation, and articulated pose estimation. CLA-NeRF is …
Screwnet: Category-independent articulation model estimation from depth images using screw theory
Robots in human environments will need to interact with a wide variety of articulated objects
such as cabinets, drawers, and dishwashers while assisting humans in performing day-to …
such as cabinets, drawers, and dishwashers while assisting humans in performing day-to …
Single-view robot pose and joint angle estimation via render & compare
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot
pose of a known articulated robot from a single RGB image. This is an important problem to …
pose of a known articulated robot from a single RGB image. This is an important problem to …
Markerless camera-to-robot pose estimation via self-supervised sim-to-real transfer
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot
control, and is a process that takes considerable effort and cares to make accurate …
control, and is a process that takes considerable effort and cares to make accurate …
Understanding 3d object articulation in internet videos
We propose to investigate detecting and characterizing the 3D planar articulation of objects
from ordinary RGB videos. While seemingly easy for humans, this problem poses many …
from ordinary RGB videos. While seemingly easy for humans, this problem poses many …