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Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
We present Large Inverse Rendering Model (LIRM), a transformer architecture that jointly reconstructs high-quality shape, materials, and radiance fields with view-dependent effects in less than a second. Our model builds upon the recent…
Reasoning the 3D structure of a non-rigid dynamic scene from a single moving camera is an under-constrained problem. Inspired by the remarkable progress of neural radiance fields (NeRFs) in photo-realistic novel view synthesis of static…
In real-world scenarios, many factors may harm face recognition performance, e.g., large pose, bad illumination,low resolution, blur and noise. To address these challenges, previous efforts usually first restore the low-quality faces to…
Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Consequently, these approaches do not generalize well when…
Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…
3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…
Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…
Sparse-view 3D reconstruction is essential for applications in which dense image acquisition is impractical, such as robotics, augmented/virtual reality (AR/VR), and autonomous systems. In these settings, minimal image overlap prevents…
In this paper, we aim to recover the 3D human pose from 2D body joints of a single image. The major challenge in this task is the depth ambiguity since different 3D poses may produce similar 2D poses. Although many recent advances in this…
In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…
Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…
Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, especially specialized small models, exhibit poor…
3D reconstruction is vital for applications in autonomous driving, virtual reality, augmented reality, and the metaverse. Recent advancements such as Neural Radiance Fields(NeRF) and 3D Gaussian Splatting (3DGS) have transformed the field,…
Active 3D measurement, especially structured light (SL) has been widely used in various fields for its robustness against textureless or equivalent surfaces by low light illumination. In addition, reconstruction of large scenes by moving…
3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…
Recent advances in 3D deep learning have shown that it is possible to train highly effective deep models for 3D shape generation, directly from 2D images. This is particularly interesting since the availability of 3D models is still limited…
Three-dimensional shape reconstruction of 2D landmark points on a single image is a hallmark of human vision, but is a task that has been proven difficult for computer vision algorithms. We define a feed-forward deep neural network…
3D style transfer aims to generate stylized views of 3D scenes with specified styles, which requires high-quality generating and keeping multi-view consistency. Existing methods still suffer the challenges of high-quality stylization with…