4 accepted papers
In this paper, we study the problem of methodically obtaining a sufficient set of kinesthetic demonstrations, one at a time, such that a robot can be confident of its ability to perform a complex manipulation task in a given region of its workspace. Although programming by demonstration has been an …
Accurate localization of graspable regions within a single object point cloud is critical to enable task-based robot grasps. State-of-the-art task-based robot grasp synthesis methods fit over-approximated 3D bounding boxes that, in some cases, fail to isolate graspable regions even if they exist. Wh
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we need to simultaneously ensure that the implicit motion constr
Image-text matching aims to find matched cross-modal pairs accurately. While current methods often rely on projecting cross-modal features into a common embedding space, they frequently suffer from imbalanced feature representations across different modalities, leading to unreliable retrieval result…