Related papers: An Interactive Control Approach to 3D Shape Recons…
3D reconstruction of large scenes is a challenging problem due to the high-complexity nature of the solution space, in particular for generative neural networks. In contrast to traditional generative learned models which encode the full…
Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…
In this work we show that given a nonlinear programming problem, it is possible to construct a family of dynamical systems defined on the feasible set of the given problem, so that: (a) the equilibrium points are the unknown critical points…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves traditional barrier Lyapunov functions by introducing a smooth…
We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…
Video diffusion models generate high-quality and diverse worlds; however, individual frames often lack 3D consistency across the output sequence, which makes the reconstruction of 3D worlds difficult. To this end, we propose a new method…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Reconstructing a complete object from its parts is a fundamental problem in many scientific domains. The purpose of this article is to provide a systematic survey on this topic. The reassembly problem requires understanding the attributes…
2D cameras are often used in interactive systems. Other systems like gaming consoles provide more powerful 3D cameras for short range depth sensing. Overall, these cameras are not reliable in large, complex environments. In this work, we…
Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sensor coverage. Multiview observations from a single scene scan…
Fast and robust three-dimensional reconstruction of facial geometric structure from a single image is a challenging task with numerous applications. Here, we introduce a learning-based approach for reconstructing a three-dimensional face…
We study end-to-end learning strategies for 3D shape inference from images, in particular from a single image. Several approaches in this direction have been investigated that explore different shape representations and suitable learning…
Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…
This paper presents an algorithm to reconstruct temporally consistent 3D meshes of deformable object instances from videos in the wild. Without requiring annotations of 3D mesh, 2D keypoints, or camera pose for each video frame, we pose…
Dense 3D reconstruction and ego-motion estimation are key challenges in autonomous driving and robotics. Compared to the complex, multi-modal systems deployed today, multi-camera systems provide a simpler, low-cost alternative. However,…