Related papers: Neural Motion Fields: Encoding Grasp Trajectories …

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

Neural implicit shape representations are an emerging paradigm that offers many potential benefits over conventional discrete representations, including memory efficiency at a high spatial resolution. Generalizing across shapes with such…

Neural implicit representations, which encode a surface as the level set of a neural network applied to spatial coordinates, have proven to be remarkably effective for optimizing, compressing, and generating 3D geometry. Although these…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

Many organisms can remember locations they have previously visited during a search. Visual search experiments have shown exploration is guided away from these locations, reducing the overlap of the search path before finding a hidden…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable due to physical constraints. Even though it is…

Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…

Understanding and mapping a new environment are core abilities of any autonomously navigating agent. While classical robotics usually estimates maps in a stand-alone manner with SLAM variants, which maintain a topological or metric…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…

Implicit neural representation is a recent approach to learn shape collections as zero level-sets of neural networks, where each shape is represented by a latent code. So far, the focus has been shape reconstruction, while shape…

Robots act in their environment through sequences of continuous motor commands. Because of the dimensionality of the motor space, as well as the infinite possible combinations of successive motor commands, agents need compact…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Neural fields have emerged as a powerful paradigm for representing various signals, including videos. However, research on improving the parameter efficiency of neural fields is still in its early stages. Even though neural fields that map…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

We introduce Neural Point Light Fields that represent scenes implicitly with a light field living on a sparse point cloud. Combining differentiable volume rendering with learned implicit density representations has made it possible to…