I am a second year PhD student at UC Berkeley co-advised by Ken Goldberg and Angjoo Kanazawa working primarily on NeRF for robot manipulation, 3D scene understanding, and visuo-tactile representation learning.
Recently I'm interested in leveraging NeRF for language grounding, and how it could change how we interact with 3D. My work is supported by the NSF GRFP.
Previously I finished my bachelor's at CMU where I worked with Howie Choset on multi-agent path planning, and spent time at Berkshire Grey and NASA's JPL.
GARField: Group Anything with Radiance Fields
Chung Min Kim*, Mingxuan Wu*, Justin Kerr*, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa
*Equal contribution
arXiv 2023
arXiv / Website
Hierarchical grouping in 3D by training a scale-conditioned affinity field from multi-level masks
LERF: Language Embedded Radiance Fields Justin Kerr*, Chung Min Kim*, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik
*Equal contribution
ICCV 2023 Oral arXiv / Website
Grounding CLIP vectors volumetrically inside a NeRF allows flexible natural language queries in 3D
Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features Justin Kerr*, Huang Huang*, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, and Ken Goldberg
*Equal contribution
RSS 2023
arXiv / Website
We collect spatially paired vision and tactile inputs with a custom rig to train cross-modal representations. We then show these representations can be used for multiple active and passive perception tasks without fine-tuning.
Evo-NeRF: Evolving NeRF for Sequential Robot Grasping Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg
CoRL 2022, Oral Presentation Website
/
OpenReview
NeRF functions as a real-time, updateable scene reconstruction for rapidly grasping table-top transparent objects.
Geometry regularization speeds and improves scene geometry, and a NeRF-adapted grasping network learns to ignore floaters.
Fluorescent paint enables inexpensive (<$300) and self-supervised data collection of dense image annotations without altering objects' appearance.
Autonomously Untangling Long Cables
Vainavi Viswanath*, Kaushik Shivakumar*, Justin Kerr*, Brijen Thananjeyan, Ellen Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
* Equal contribution
RSS 2022, Best Systems Paper Award Website
/
Paper
A sliding-pinching dual-mode gripper enables untangling charging cables with manipulation primitives to simplify perception coupled with learned perception modules.
Combining active perception with behavior cloning can reliably hand a surgical needle back and forth between grippers.
Personal Projects
Miniature self-balancing robot, built from scratch using off-the-shelf parts and
able to follow waypoints using model-predictive control for balance and
pure pursuit for path following.
Indoor mapping robot built from scratch with a cheap planar lidar which autonomously mapped my house using a
Google Cartographer-inspired SLAM algorithm,
alongside a grid path planner for exploration and DWA controller for path following.