Sanket Kalwar — accepted AI-conference papers

2024

Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation

Gaurav Singh, Sanket Kalwar, Md Faizal Karim, Bipasha Sen, Nagamanikandan Govindan, Srinath Sridhar +1

IROS 2024poster

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries involved, requiring a deep understanding of the local geometry to…

Cited by 6 Source ↗code ↗Scholar ↗

2024

DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions

Sanket Kalwar, Mihir Ungarala, Shruti Jain, Aaron Monis, Krishna Reddy Konda, Sourav Garg +1

IROS 2024poster

Semantic segmentation in adverse weather scenarios is a critical task for autonomous driving systems. While foundation models have shown promise, the need for specialized adaptors becomes evident for handling more challenging scenarios. We introduce DiffPrompter, a novel differentiable visual and la…

Cited by 0 Source ↗code ↗Scholar ↗

2023

GDIP: Gated Differentiable Image Processing for Object Detection in Adverse Conditions

Sanket Kalwar, Dhruv Patel, Aakash Aanegola, Krishna Reddy Konda, Sourav Garg, K Madhava Krishna

ICRA 2023poster

Detecting objects under adverse weather and lighting conditions is crucial for the safe and continuous operation of an autonomous vehicle, and remains an unsolved problem. We present a Gated Differentiable Image Processing (GDIP) block, a domain-agnostic network architecture, which can be plugged in…

Cited by 68 Source ↗code ↗Scholar ↗