Stuart Anderson
We present Sapiens, a family of models for four fundamental human-centric vision tasks -- 2D pose estimation, body-part segmentation, depth estimation, and surface normal prediction. Our models natively support 1K high-resolution inference…
We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and…
We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile images over time, and outputs an evolving distribution of…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…
We address the problem of learning observation models end-to-end for estimation. Robots operating in partially observable environments must infer latent states from multiple sensory inputs using observation models that capture the joint…
Using large pre-trained models for image recognition tasks is becoming increasingly common owing to the well acknowledged success of recent models like vision transformers and other CNN-based models like VGG and Resnet. The high accuracy of…
Gravitational-wave observations became commonplace in Advanced LIGO-Virgo's recently concluded third observing run. 56 non-retracted candidates were identified and publicly announced in near real time. Gravitational waves from binary…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
Recent gravitational-wave observations from the LIGO and Virgo observatories have brought a sense of great excitement to scientists and citizens the world over. Since September 2015,10 binary black hole coalescences and one binary neutron…
We present a novel computational framework that connects Blue Waters, the NSF-supported, leadership-class supercomputer operated by NCSA, to the Laser Interferometer Gravitational-Wave Observatory (LIGO) Data Grid via Open Science Grid…
Digitisation of natural history collections not only preserves precious information about biological diversity, it also enables us to share, analyse, annotate and compare specimens to gain new insights. High-resolution, full-colour 3D…
The scientific system that we use today was devised centuries ago and is inadequate for our current ICT-based society: the peer review system encourages conservatism, journal publications are monolithic and slow, data is often not available…
We have used the Arecibo Radio Telescope to search for millisecond pulsars in two intermediate Galactic latitude regions (7 deg < | b | < 20 deg) accessible to this telescope. For these latitudes the useful millisecond pulsar search volume…