Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Vision-based teleoperation offers the possibility to endow robots with human-level
intelligence to physically interact with the environment, while only requiring low-cost camera …
intelligence to physically interact with the environment, while only requiring low-cost camera …
nvblox: Gpu-accelerated incremental signed distance field mapping
A Millane, H Oleynikova, E Wirbel… - … on Robotics and …, 2024 - ieeexplore.ieee.org
Dense, volumetric maps are essential to enable robot navigation and interaction with the
environment. To achieve low latency, dense maps are typically computed onboard the robot …
environment. To achieve low latency, dense maps are typically computed onboard the robot …
Motions in microseconds via vectorized sampling-based planning
W Thomason, Z Kingston… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Modern sampling-based motion planning algorithms typically take between hundreds of
milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom …
milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom …
Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation
This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation,
dubbed RAM, featuring generalizability across various objects, environments, and …
dubbed RAM, featuring generalizability across various objects, environments, and …
Robot see robot do: Part-centric feature fields for visual imitation of articulated objects
Humans can learn to manipulate new objects by simply watching others; providing robots
with the ability to learn from such demonstrations would enable a natural interface specifying …
with the ability to learn from such demonstrations would enable a natural interface specifying …
CuRobo: Parallelized collision-free minimum-jerk robot motion generation
B Sundaralingam, SKS Hari, A Fishman… - arXiv preprint arXiv …, 2023 - arxiv.org
This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …
formulating it as a global motion optimization problem. We develop a parallel optimization …
RGB-only reconstruction of tabletop scenes for collision-free manipulator control
We present a system for collision-free control of a robot manipulator that uses only RGB
views of the world. Perceptual input of a tabletop scene is provided by multiple images of an …
views of the world. Perceptual input of a tabletop scene is provided by multiple images of an …
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction
Humans can learn to manipulate new objects by simply watching others; providing robots
with the ability to learn from such demonstrations would enable a natural interface specifying …
with the ability to learn from such demonstrations would enable a natural interface specifying …
The Magnificent Seven Challenges and Opportunities in Domain-Specific Accelerator Design for Autonomous Systems
The end of Moore's Law and Dennard Scaling has combined with advances in agile
hardware design to foster a golden age of domain-specific acceleration. However, this new …
hardware design to foster a golden age of domain-specific acceleration. However, this new …
Vapr: Variable-precision tensors to accelerate robot motion planning
High-dimensional motion generation requires nu-merical precision for smooth, collision-free
solutions. Typically, double-precision or single-precision floating-point (FP) formats are …
solutions. Typically, double-precision or single-precision floating-point (FP) formats are …