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07/10/2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
We propose a system for rearranging objects in a scene to achieve a desi...
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06/26/2023
RVT: Robotic View Transformer for 3D Object Manipulation
For 3D object manipulation, methods that build an explicit 3D representa...
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06/15/2023
Infinite Photorealistic Worlds using Procedural Generation
We introduce Infinigen, a procedural generator of photorealistic 3D scen...
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09/22/2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the wor...
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04/26/2022
Coupled Iterative Refinement for 6D Multi-Object Pose Estimation
We address the task of 6D multi-object pose: given a set of known 3D obj...
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02/01/2022
IFOR: Iterative Flow Minimization for Robotic Object Rearrangement
Accurate object rearrangement from vision is a crucial problem for a wid...
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12/02/2021
Emotions are Subtle: Learning Sentiment Based Text Representations Using Contrastive Learning
Contrastive learning techniques have been widely used in the field of co...
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10/14/2021
Non-deep Networks
Depth is the hallmark of deep neural networks. But more depth means more...
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06/09/2021
Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline
Processing point cloud data is an important component of many real-world...
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12/03/2020
Rel3D: A Minimally Contrastive Benchmark for Grounding Spatial Relations in 3D
Understanding spatial relations (e.g., "laptop on table") in visual inpu...
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07/21/2020
PackIt: A Virtual Environment for Geometric Planning
The ability to jointly understand the geometry of objects and plan actio...
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06/15/2019
Practical User Feedback-driven Internal Search Using Online Learning to Rank
We present a system, Spoke, for creating and searching internal knowledg...
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05/25/2018
