no code implementations • 5 Oct 2023 • Mengyu Yang, Patrick Grady, Samarth Brahmbhatt, Arun Balajee Vasudevan, Charles C. Kemp, James Hays
How easy is it to sneak up on a robot?
1 code implementation • 29 Jan 2023 • Samarth Brahmbhatt, Ankur Deka, Andrew Spielberg, Matthias Müller
In this paper we train a contact-exploiting manipulation policy in simulation for the contact-rich household task of loading plates into a slotted holder, which transfers without any fine-tuning to the real robot.
1 code implementation • 19 Mar 2022 • Patrick Grady, Chengcheng Tang, Samarth Brahmbhatt, Christopher D. Twigg, Chengde Wan, James Hays, Charles C. Kemp
We also show that the output of our model depends on the appearance of the hand and cast shadows near contact regions.
1 code implementation • CVPR 2021 • Patrick Grady, Chengcheng Tang, Christopher D. Twigg, Minh Vo, Samarth Brahmbhatt, Charles C. Kemp
Given a hand mesh and an object mesh, a deep model trained on ground truth contact data infers desirable contact across the surfaces of the meshes.
2 code implementations • ECCV 2020 • Samarth Brahmbhatt, Chengcheng Tang, Christopher D. Twigg, Charles C. Kemp, James Hays
We introduce ContactPose, the first dataset of hand-object contact paired with hand pose, object pose, and RGB-D images.
Ranked #1 on Grasp Contact Prediction on ContactPose
no code implementations • 17 Jul 2019 • Samarth Brahmbhatt, Charles C. Kemp, James Hays
However, grasp capture - capturing the pose of a hand grasping an object, and orienting it w. r. t.
2 code implementations • CVPR 2019 • Samarth Brahmbhatt, Cusuh Ham, Charles C. Kemp, James Hays
We present ContactDB, a novel dataset of contact maps for household objects that captures the rich hand-object contact that occurs during grasping, enabled by use of a thermal camera.
Ranked #1 on Grasp Contact Prediction on ContactDB
4 code implementations • 7 Apr 2019 • Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
Using a dataset of contact demonstrations from humans grasping diverse household objects, we synthesize functional grasps for three hand models and two functional intents.
1 code implementation • CVPR 2018 • Samarth Brahmbhatt, Jinwei Gu, Kihwan Kim, James Hays, Jan Kautz
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking.
Ranked #5 on Visual Localization on Oxford RobotCar Full
no code implementations • CVPR 2017 • Samarth Brahmbhatt, James Hays
We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for navigating large cities using locally visible street-view images.
1 code implementation • 19 Oct 2016 • Samarth Brahmbhatt, Henrik I. Christensen, James Hays
Through experiments on Pascal VOC 2007 and 2012, we demonstrate the effectiveness of this method and show that StuffNet also significantly improves object detection performance on such datasets.
no code implementations • 27 Jul 2015 • Samarth Brahmbhatt, Heni Ben Amor, Henrik Christensen
We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion.