The author proposes the GAMMA framework to model articulation parameters and grasp pose affordance from point clouds, enhancing manipulation performance through adaptive learning.
提案されたGAMMAフレームワークは、点群から関節パラメータとグラスポーズアフォーダンスを推定し、実際の軌跡を利用して関節パラメータを反復的に更新して操作性能を向上させます。
CenterArt is a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of articulated objects from RGB-D images.
FlowBot++ is a deep 3D vision-based robotic system that predicts dense per-point motion (Articulation Flow) and dense per-point articulation parameters (Articulation Projection) to enable generalized manipulation of articulated objects.
Our closed-loop pipeline integrates interactive perception with online refined axis estimation, enabling adaptive and precise control during manipulation tasks involving articulated objects.