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We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations.
Parametric correspondence and chamfer matching: Two new techniques for image matching
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kpam: Keypoint affordances for category-level robotic manipulation
L. Manuelli, W. Gao, P. Florence, and R. Tedrake · 2019
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Occupancy networks: Learning 3d reconstruction in function space
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Implicit generation and modeling with energy based models
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Learning implicit fields for generative shape modeling
Z. Chen and H. Zhang · 2019
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Scene representation networks: Continuous 3d-structure-aware neural scene representations
V. Sitzmann, M. Zollhöfer, and G. Wetzstein · 2019
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6-dof graspnet: Variational grasp generation for object manipulation
A. Mousavian, C. Eppner, and D. Fox · 2019
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Rearrangement: A challenge for embodied ai
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A long horizon planning framework for manipulating rigid pointcloud objects
A. Simeonov, Y. Du, B. Kim, F. R. Hogan, J. Tenenbaum, P. Agrawal, and A. Rodriguez · 2020
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Deep visual reasoning: Learning to predict action sequences for task and motion planning from an initial scene image
D. Driess, J.-S. Ha, and M. Toussaint · 2020
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Transporter networks: Rearranging the visual world for robotic manipulation
A. Zeng, P. Florence, J. Tompson, S. Welker, J. Chien, M. Attarian, T. Armstrong, I. Krasin, D. Duong, V. Sindhwani, and J. Lee · 2020
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Nerf: Representing scenes as neural radiance fields for view synthesis
B. Mildenhall, P. P. Srinivasan, M. Tancik, J. T. Barron, R. Ramamoorthi, and R. Ng · 2020
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Compositional visual generation with energy based models
Y. Du, S. Li, and I. Mordatch · 2020
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Convolutional occupancy networks
S. Peng, M. Niemeyer, L. Mescheder, M. Pollefeys, and A. Geiger · 2020
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Local implicit grid representations for 3d scenes
C. Jiang, A. Sud, A. Makadia, J. Huang, M. Nießner, and T. Funkhouser · 2020
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Implicit functions in feature space for 3d shape reconstruction and completion
J. Chibane, T. Alldieck, and G. Pons-Moll · 2020
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Deep local shapes: Learning local sdf priors for detailed 3d reconstruction
R. Chabra, J. E. Lenssen, E. Ilg, T. Schmidt, J. Straub, S. Lovegrove, and R. Newcombe · 2020
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kpam 2.0: Feedback control for category-level robotic manipulation
W. Gao and R. Tedrake · 2021
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Vector neurons: A general framework for so(3)-equivariant networks
C. Deng, O. Litany, Y. Duan, A. Poulenard, A. Tagliasacchi, and L. J. Guibas · 2021
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Unsupervised learning of compositional energy concepts
Y. Du, S. Li, Y. Sharma, J. B. Tenenbaum, and I. Mordatch · 2021
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Learning to regrasp by learning to place
S. Cheng, K. Mo, and L. Shao · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
M. Sundermeyer, A. Mousavian, R. Triebel, and D. Fox · 2021
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Neural descriptor fields: Se (3)-equivariant object representations for manipulation
A. Simeonov, Y. Du, A. Tagliasacchi, J. B. Tenenbaum, A. Rodriguez, P. Agrawal, and V. Sitzmann · 2022
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Stable object reorientation using contact plane registration
R. Li, C. Esteves, A. Makadia, and P. Agrawal · 2022
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Online object model reconstruction and reuse for lifelong improvement of robot manipulation
S. Lu, R. Wang, Y. Miao, C. Mitash, and K. Bekris · 2022
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Long-horizon manipulation of unknown objects via task and motion planning with estimated affordances
A. Curtis, X. Fang, L. P. Kaelbling, T. Lozano-Pérez, and C. R. Garrett · 2022
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Robotic pick-and-place with uncertain object instance segmentation and shape completion
M. Gualtieri and R. Platt · 2021
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Sornet: Spatial object-centric representations for sequential manipulation
W. Yuan, C. Paxton, K. Desingh, and D. Fox · 2021
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NeRP: Neural Rearrangement Planning for Unknown Objects
A. H. Qureshi, A. Mousavian, C. Paxton, M. Yip, and D. Fox · 2021
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Learning to solve sequential physical reasoning problems from a scene image
D. Driess, J.-S. Ha, and M. Toussaint · 2021
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Object rearrangement using learned implicit collision functions
M. Danielczuk, A. Mousavian, C. Eppner, and D. Fox · 2021
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Omnihang: Learning to hang arbitrary objects using contact point correspondences and neural collision estimation
Y. You, L. Shao, T. Migimatsu, and J. Bohg · 2021
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Ifor: Iterative flow minimization for robotic object rearrangement
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Semantically grounded object matching for robust robotic scene rearrangement
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You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
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Neural shape mating: Self-supervised object assembly with adversarial shape priors
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Equivariant Transporter Network
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Neural fields in visual computing and beyond
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Learning neural acoustic fields
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Deep visual constraints: Neural implicit models for manipulation planning from visual input
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Virdo: Visio-tactile implicit representations of deformable objects
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Ditto: Building digital twins of articulated objects from interaction
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Vision-only robot navigation in a neural radiance world
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NeRF-Supervision: Learning dense object descriptors from neural radiance fields
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Implicit kinematic policies: Unifying joint and cartesian action spaces in end-to-end robot learning
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Compositional visual generation with composable diffusion models
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Topologically-aware deformation fields for single-view 3d reconstruction
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Unseen object amodal instance segmentation via hierarchical occlusion modeling
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Se (3)-equivariant attention networks for shape reconstruction in function space
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3d equivariant graph implicit functions
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