Excited to introduce PyRoki ("Python Robot Kinematics"): easier IK, trajectory optimization, motion retargeting... with an open-source toolkit on both CPU and GPU
🪴Should the leaves of a plant be considered separate or part of the whole?
Answer: it really depends! Points can, and should, belong to multiple groups.
With GARField, points can belong to multiple groups, with physical scale 📏 as an extra dimension.
garfield.studio
Introducing our #CoRL2023 (oral) project:
🥡 LERF-TOGO uses LERF for zero-shot semantic grasping. Check out our website at lerftogo.github.io!
LERF (lerf.io) can localize the "handle" of the mug or the "neck" of a bottle... so we tell robots where to grasp!
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping
paper page: huggingface.co/papers/2309.07…
Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are
It’s notoriously difficult to model the mechanics of compliant robot jaw tips during grasping! We found that a new tool from computer graphics can help. IPC-GraspSim, from @AUTOLab_Cal@UCBerkeley. Paper, data, video: sites.google.com/berkeley.edu/i… (1/9)
This week in the @berkeley_ai CompVision meeting we did 5 min presentations: short powerpoint presentations about anything you want, as long as it isn't related to work. Here is a sampling of what transpired:
PyRoki's focus is flexibility, but it's also fast: up to 1.4-1.7x faster than cuRobo for GPU-accelerated IK!
(with higher success and lower errors, see paper ✨)
Robot See, Robot Do allows you to teach a robot articulated manipulation with just your hands and a phone!
RSRD imitates from 1) an object scan and 2) a human demonstration video, reconstructing 3D motion to plan a robot trajectory.
robot-see-robot-do.github.io#CoRL2024 (Oral)
Excited to present 📎LERF🚜 at #ICCV2023!
Come see our poster this Friday afternoon 02:30 PM-04:30 PM, at poster 163 in room "Foyer Sud"! Come chat with @justkerrding* and me* :)
Our talk is at Room "Paris Sud" 4:30-6:30
I’m not at CVPR this year🥲, but @justkerrding and @ChungMinKim are doing a talk *Tuesday 2:15pm* on GARField, LERF, and the latest updates🔥 It's gonna be an awesome talk with many cool videos✨ Please check it out!
At opensun3d workshop 2:15pm 6/18 Arch 211 #CVPR2024
What's GARField? Group Anything with Radiance Fields! The groupings in 3D are optimized using multi-level masks from Segment-Anything (SAM).
Once trained, these groups can be *extracted* and moved around...