Bipasha Sen
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View article: Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck Open
We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitiv…
View article: SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation Open
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must const…
View article: Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation Open
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries invo…
View article: ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning Open
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage feature…
View article: EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning Open
Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used off-th…
View article: HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork
HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork Open
Neural Radiance Fields (NeRF) have become an increasingly popular representation to capture high-quality appearance and shape of scenes and objects. However, learning generalizable NeRF priors over categories of scenes or objects has been …
View article: SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping
SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping Open
Recovering full 3D shapes from partial observations is a challenging task that has been extensively addressed in the computer vision community. Many deep learning methods tackle this problem by training 3D shape generation networks to lear…
View article: INR-V: A Continuous Representation Space for Video-based Generative Tasks
INR-V: A Continuous Representation Space for Video-based Generative Tasks Open
Generating videos is a complex task that is accomplished by generating a set of temporally coherent images frame-by-frame. This limits the expressivity of videos to only image-based operations on the individual video frames needing network…
View article: Towards MOOCs for Lipreading: Using Synthetic Talking Heads to Train Humans in Lipreading at Scale
Towards MOOCs for Lipreading: Using Synthetic Talking Heads to Train Humans in Lipreading at Scale Open
Many people with some form of hearing loss consider lipreading as their primary mode of day-to-day communication. However, finding resources to learn or improve one's lipreading skills can be challenging. This is further exacerbated in the…
View article: FaceOff: A Video-to-Video Face Swapping System
FaceOff: A Video-to-Video Face Swapping System Open
Doubles play an indispensable role in the movie industry. They take the place of the actors in dangerous stunt scenes or scenes where the same actor plays multiple characters. The double's face is later replaced with the actor's face and e…
View article: Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning
Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning Open
Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table,…
View article: Personalized One-Shot Lipreading for an ALS Patient
Personalized One-Shot Lipreading for an ALS Patient Open
Lipreading or visually recognizing speech from the mouth movements of a speaker is a challenging and mentally taxing task. Unfortunately, multiple medical conditions force people to depend on this skill in their day-to-day lives for essent…