Dense Descriptors Towards Fine Manipulation
Directed Study - Fall 2021 - Professor Chad Jenkins
To train dense descriptors for fine object manipulation, we construct a more granular model and explore losses that encouraged the model to encode a sense of parts and poses.
![](/assets/img/DenseDescriptorsWithLoss.png)
The left image shows an auxiliary loss introduced to attempt to encourage coherent category level consistency of dense descriptors. To the right the image shows the resultant 3 dimensional dense descriptors.