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08/02/2023
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions
We present the HANDAL dataset for category-level object pose estimation ...
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03/24/2023
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
We present a near real-time method for 6-DoF tracking of an unknown obje...
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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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10/18/2022
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
We present a parallelized optimization method based on fast Neural Radia...
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05/23/2022
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
We propose a single-stage, category-level 6-DoF pose estimation algorith...
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03/11/2022
6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark
We present a new dataset for 6-DoF pose estimation of known objects, wit...
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09/13/2021
Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image
Prior work on 6-DoF object pose estimation has largely focused on instan...
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05/28/2021
NViSII: A Scriptable Tool for Photorealistic Image Generation
We present a Python-based renderer built on NVIDIA's OptiX ray tracing e...
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03/25/2021
Multi-view Fusion for Multi-level Robotic Scene Understanding
We present a system for multi-level scene awareness for robotic manipula...
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08/26/2020
Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
We present a robotic grasping system that uses a single external monocul...
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05/14/2020
How to Close Sim-Real Gap? Transfer with Segmentation!
One fundamental difficulty in robotic learning is the sim-real gap probl...
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06/25/2019
Importance Estimation for Neural Network Pruning
Structural pruning of neural network parameters reduces computation, ene...
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03/19/2019
Exact Gaussian Processes on a Million Data Points
Gaussian processes (GPs) are flexible models with state-of-the-art perfo...
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05/18/2018
Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
We present a system to infer and execute a human-readable program from a...
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12/08/2017
Sim-to-Real Transfer of Accurate Grasping with Eye-In-Hand Observations and Continuous Control
In the context of deep learning for robotics, we show effective method o...
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09/05/2017
Improving Landmark Localization with Semi-Supervised Learning
We present two techniques to improve landmark localization from partiall...
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05/19/2017
A Lightweight Approach for On-the-Fly Reflectance Estimation
Estimating surface reflectance (BRDF) is one key component for complete ...
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11/19/2016
Pruning Convolutional Neural Networks for Resource Efficient Inference
We propose a new formulation for pruning convolutional kernels in neural...
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06/14/2015
Compressing Convolutional Neural Networks
Convolutional neural networks (CNN) are increasingly used in many areas ...
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04/19/2015
Compressing Neural Networks with the Hashing Trick
As deep nets are increasingly used in applications suited for mobile dev...
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12/04/2014