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07/10/2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
We propose a system for rearranging objects in a scene to achieve a desi...
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12/13/2022
MegaPose: 6D Pose Estimation of Novel Objects via Render Compare
We introduce MegaPose, a method to estimate the 6D pose of novel objects...
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09/12/2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
Transformers have revolutionized vision and natural language processing ...
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09/24/2021
CLIPort: What and Where Pathways for Robotic Manipulation
How can we imbue robots with the ability to manipulate objects precisely...
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09/10/2020
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning
Predictive models have been at the core of many robotic systems, from qu...
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09/16/2019
Self-Supervised Correspondence in Visuomotor Policy Learning
In this paper we explore using self-supervised correspondence for improv...
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03/15/2019
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation
We would like robots to achieve purposeful manipulation by placing any i...
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06/22/2018
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
What is the right object representation for manipulation? We would like ...
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07/15/2017