7 accepted papers
Visuomotor policies for manipulation have demonstrated remarkable potential in modeling complex robotic behaviors, yet minor alterations in the robot’s initial configuration and unseen obstacles easily lead to out-of-distribution observations. Without extensive data collection effort, these result i…
We present Real2Code, a novel approach to reconstructing articulated objects via code generation. Given visual observations of an object, we first reconstruct its part geometry using image segmentation and shape completion. We represent these object parts with oriented bounding boxes, from which a f…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not dependent on grasp families, requires no model training or grasp sam…
In this work, we investigate a form of dynamic contact-rich locomotion in which a robot pushes off from obstacles in order to move through its environment. We present a reflex-based approach that switches between optimized hand-crafted reflex controllers and produces smooth and predictable motions.…
We present a novel, low cost framework for reconstructing surface contact movements during in-hand manipulations. Unlike many existing methods focused on hand pose tracking, ours models the behavior of contact patches, and by doing so is the first to obtain detailed contact tracking estimates for mu…
Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a noisy observation or a bad initialization. Learning-based me…
Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This allows the physical plausibility of individual object pose est