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Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…
Shape completion, a crucial task in 3D computer vision, involves predicting and filling the missing regions of scanned or partially observed objects. Current methods expect known pose or canonical coordinates and do not perform well under…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
Vision-based bird's-eye-view (BEV) 3D object detection has advanced significantly in autonomous driving by offering cost-effectiveness and rich contextual information. However, existing methods often construct BEV representations by…
If a collection of identical particles is poured into a container, different shapes will fill to different densities. But what is the shape that fills a container as close as possible to a pre-specified, desired density? We demonstrate a…
One of the basic problems in discrete geometry is to determine the most efficient packing of congruent replicas of a given convex set $K$ in the plane or in space. The most commonly used measure of efficiency is density. Several types of…
Shape retrieval and alignment are a promising avenue towards turning 3D scans into lightweight CAD representations that can be used for content creation such as mobile or AR/VR gaming scenarios. Unfortunately, CAD model retrieval is limited…
Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene…
Decomposition of shapes into (approximate) convex parts is essential for applications such as part-based shape representation, shape matching, and collision detection. In this paper, we propose a novel convex decomposition using a…
Capsule networks promise significant benefits over convolutional networks by storing stronger internal representations, and routing information based on the agreement between intermediate representations' projections. Despite this, their…
A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…
The published literature on topology optimization has exploded over the last two decades to include methods that use shape and topological derivatives or evolutionary algorithms formulated on various geometric representations and…
Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…
Real scans always miss partial geometries of objects due to the self-occlusions, external-occlusions, and limited sensor resolutions. Point cloud completion aims to refer the complete shapes for incomplete 3D scans of objects. Current deep…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…