Nov 17, 2022 · Abstract:We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses ...
Sep 10, 2022 · We propose an optimization method that uses multiple Neural Descriptor Fields (NDFs) and a single annotated 3D keypoint to assign a set of ...
We propose an optimization method that uses multiple Neural Descriptor Fields (NDFs) and a single annotated 3D keypoint to assign a set of consistent coordinate ...
We validate our pipeline on three multi-object rearrangement tasks in simulation and on a real robot. Results demonstrate that our method can infer relative ...
Duration: 4:14
Posted: Nov 17, 2022
Posted: Nov 17, 2022
We propose an optimization method that uses multiple. Neural Descriptor Fields (NDFs) and a single annotated 3D keypoint to assign a set of consistent ...
Relational Neural Descriptor Fields (R-NDF). PyTorch implementation for training continuous 3D neural fields to represent dense correspondence across objects, ...
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Nov 17, 2022 · We present Relational Neural Descriptor. Fields (R-NDFs), a framework, using ∼ 5-10 demonstrations, that takes as input 3D point clouds of a.
This work overcome the key technical challenge of determining task-relevant local coordinate frames from a few demonstrations by developing an optimization ...
Neural Descriptor Fields: SE (3)-Equivariant Object Representations for Manipulation ... 2018. SE (3)-Equivariant Relational Rearrangement with Neural Descriptor ...