Related papers: Space-Aware Reconfiguration
Textual cues are essential for everyday tasks like buying groceries and using public transport. To develop this assistive technology, we study the TextVQA task, i.e., reasoning about text in images to answer a question. Existing approaches…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…
Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…
We address the problem of unsupervised domain adaptation under the setting of generalized target shift (joint class-conditional and label shifts). For this framework, we theoretically show that, for good generalization, it is necessary to…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Spacecraft Pose Estimation (SPE) is a fundamental capability for autonomous space operations such as rendezvous, docking, and in-orbit servicing. Hybrid pipelines that combine object detection, keypoint regression, and Perspective-n-Point…
Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…
We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange…
Data-driven methods have achieved notable performance on intent detection, which is a task to comprehend user queries. Nonetheless, they are controversial for over-confident predictions. In some scenarios, users do not only care about the…
Domain Adaptation (DA) enables transferring a learning machine from a labeled source domain to an unlabeled target one. While remarkable advances have been made, most of the existing DA methods focus on improving the target accuracy at…
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
Despite the promising progress made in recent years, person re-identification (re-ID) remains a challenging task due to the complex variations in human appearances from different camera views. For this challenging problem, a large variety…
Existing algorithms for human body part segmentation have shown promising results on challenging datasets, primarily relying on end-to-end supervision. However, these algorithms exhibit severe performance drops in the face of domain shifts,…
Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…