Author name cluster

Aditya Agarwal

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6 papers

2 author rows

ICRA Conference 2024 Conference Paper

ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning

Qiao Gu
Ali Kuwajerwala
Sacha Morin
Krishna Murthy Jatavallabhula
Bipasha Sen
Aditya Agarwal
Corban Rivera
William Paul

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 features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, which do not scale well in larger environments, nor do they contain semantic spatial relationships between entities in the environment, which are useful for downstream planning. In this work, we propose ConceptGraphs, an open-vocabulary graph-structured representation for 3D scenes. ConceptGraphs is built by leveraging 2D foundation models and fusing their output to 3D by multi-view association. The resulting representations generalize to novel semantic classes, without the need to collect large 3D datasets or finetune models. We demonstrate the utility of this representation through a number of downstream planning tasks that are specified through abstract (language) prompts and require complex reasoning over spatial and semantic concepts. To explore the full scope of our experiments and results, we encourage readers to visit our project webpage.

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ICRA Conference 2024 Conference Paper

EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning

Kallol Saha
Vishal Reddy Mandadi
Jayaram Reddy
Ajit Srikanth
Aditya Agarwal
Bipasha Sen
Arun Kumar Singh 0001
K. Madhava Krishna

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-the-shelf for any new scene without needing specific training datasets. However, without a prior understanding of what diverse valid trajectories are and without specially designed cost functions for a given scene, the overall solutions tend to have low success rates within a certain time limit. While deep-learning-based algorithms tremendously improve success rates, they are much harder to adopt without specialized training datasets. We propose EDMP, an Ensemble-of-costs-guided Diffusion for Motion Planning that aims to combine the strengths of classical and deep-learning-based motion planning. Our diffusion-based network is trained on a set of diverse kinematically valid trajectories. Like classical planning, for any new scene at the time of inference, we compute scene-specific costs such as "collision cost" and guide the diffusion to generate valid trajectories that satisfy the scene-specific constraints. Further, instead of a single cost function that may be insufficient in capturing diversity across scenes, we use an ensemble of costs to guide the diffusion process, significantly improving the success rate compared to classical planners. EDMP performs comparably with SOTA deep-learning-based methods while retaining the generalization capabilities primarily associated with classical planners.

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NeurIPS Conference 2023 Conference Paper

HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork

Bipasha Sen
Gaurav Singh
Aditya Agarwal
Rohith Agaram
Madhava Krishna
Srinath Sridhar

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 challenging due to the high dimensionality of network weight space. To address the limitations of existing work on generalization, multi-view consistency and to improve quality, we propose HyP-NeRF, a latent conditioning method for learning generalizable category-level NeRF priors using hypernetworks. Rather than using hypernetworks to estimate only the weights of a NeRF, we estimate both the weights and the multi-resolution hash encodings resulting in significant quality gains. To improve quality even further, we incorporate a denoise and finetune strategy that denoises images rendered from NeRFs estimated by the hypernetwork and finetunes it while retaining multiview consistency. These improvements enable us to use HyP-NeRF as a generalizable prior for multiple downstream tasks including NeRF reconstruction from single-view or cluttered scenes and text-to-NeRF. We provide qualitative comparisons and evaluate HyP-NeRF on three tasks: generalization, compression, and retrieval, demonstrating our state-of-the-art results.

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ICRA Conference 2023 Conference Paper

SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping

Bipasha Sen
Aditya Agarwal
Gaurav Singh 0012
Brojeshwar Bhowmick
Srinath Sridhar 0002
K. Madhava Krishna

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 learn a prior over the full 3D shapes. In this training regime, the methods expect the inputs to be in a fixed canonical form, without which they fail to learn a valid prior over the 3D shapes. We propose SCARP, a model that performs Shape C ompletion in ARbitrary Poses. Given a partial pointcloud of an object, SCARP learns a disentangled feature representation of pose and shape by relying on rotationally equivariant pose features and geometric shape features trained using a multi-tasking objective. Unlike existing methods that depend on an external canonicalization method, SCARP performs canonicalization, pose estimation, and shape completion in a single network, improving the performance by 45% over the existing baselines. In this work, we use SCARP for improving grasp proposals on tabletop objects. By completing partial tabletop objects directly in their observed poses, SCARP enables a SOTA grasp proposal network improve their proposals by 71. 2% on partial shapes. Project page: https://bipashasen.github.io/scarp

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TMLR Journal 2022 Journal Article

INR-V: A Continuous Representation Space for Video-based Generative Tasks

Bipasha Sen
Aditya Agarwal
Vinay P Namboodiri
C.V. Jawahar

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 designs to obtain temporally coherent trajectories in the underlying image space. We propose INR-V, a video representation network that learns a continuous space for video-based generative tasks. INR-V parameterizes videos using implicit neural representations (INRs), a multi-layered perceptron that predicts an RGB value for each input pixel location of the video. The INR is predicted using a meta-network which is a hypernetwork trained on neural representations of multiple video instances. Later, the meta-network can be sampled to generate diverse novel videos enabling many downstream video-based generative tasks. Interestingly, we find that conditional regularization and progressive weight initialization play a crucial role in obtaining INR-V. The representation space learned by INR-V is more expressive than an image space showcasing many interesting properties not possible with the existing works. For instance, INR-V can smoothly interpolate intermediate videos between known video instances (such as intermediate identities, expressions, and poses in face videos). It can also in-paint missing portions in videos to recover temporally coherent full videos. In this work, we evaluate the space learned by INR-V on diverse generative tasks such as video interpolation, novel video generation, video inversion, and video inpainting against the existing baselines. INR-V significantly outperforms the baselines on several of these demonstrated tasks, clearly showing the potential of the proposed representation space.

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IROS Conference 2020 Conference Paper

PERCH 2. 0: Fast and Accurate GPU-based Perception via Search for Object Pose Estimation

Aditya Agarwal
Yupeng Han
Maxim Likhachev

Pose estimation of known objects is fundamental to tasks such as robotic grasping and manipulation. The need for reliable grasping imposes stringent accuracy requirements on pose estimation in cluttered, occluded scenes in dynamic environments. Modern methods employ large sets of training data to learn features in order to find correspondence between 3D models and observed data. However these methods require extensive annotation of ground truth poses. An alternative is to use algorithms that search for the best explanation of the observed scene in a space of possible rendered scenes. A recently developed algorithm, PERCH (PErception Via SeaRCH) does so by using depth data to converge to a globally optimum solution using a search over a specially constructed tree. While PERCH offers strong guarantees on accuracy, the current formulation suffers from low scalability owing to its high runtime. In addition, the sole reliance on depth data for pose estimation restricts the algorithm to scenes where no two objects have the same shape. In this work, we propose PERCH 2. 0, a novel perception via search strategy that takes advantage of GPU acceleration and RGB data. We show that our approach can achieve a speedup of 100x over PERCH, as well as better accuracy than the state-of-the-art data-driven approaches on 6-DoF pose estimation without the need for annotating ground truth poses in the training data. Our code and video are available at https://sbpl-cruz.github.io/perception/.

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