Ana Huamán Quispe — accepted AI-conference papers

2022

Generalized Affordance Templates for Mobile Manipulation

Stephen Hart, Ana Huamán Quispe, Michael W. Lanighan, Seth Gee

ICRA 2022poster

This paper presents recent advances to the Affordance Template (AT) task description language. Affordance Templates provide standardized, easy-to-use tools for defining robot manipulation tasks that provide a high level of augmented reality capabilities to facilitate human-in-the-loop operation, but…

Cited by 14 Source ↗Scholar ↗

2015

Exploiting symmetries and extrusions for grasping household objects

Ana Huamán Quispe, Benoît Milville, Marco A. Gutiérrez, Can Erdogan, Mike Stilman, Henrik Christensen +1

ICRA 2015poster

In this paper we present an approach for creating complete shape representations from a single depth image for robot grasping. We introduce algorithms for completing partial point clouds based on the analysis of symmetry and extrusion patterns in observed shapes. Identified patterns are used to gene…

Cited by 54 Source ↗Scholar ↗