Zesheng Xu — accepted AI-conference papers

2023

Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction

Yangxiao Lu, Ninad A Khargonkar, Zesheng Xu, Charles Averill, Kamalesh Palanisamy, Kaiyu Hang +3

RSS 2023poster

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the segmentation mask of the grasped or pushed object after one action. I…

Cited by 9 Source ↗PDF ↗Scholar ↗

2022

NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands

Ninad Khargonkar, Neil Song, Zesheng Xu, B Prabhakaran, Yu Xiang

CoRL 2022poster

We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape of an object and the 3D shape of a robotic hand in a graspin…

Cited by 17 Source ↗Scholar ↗