Related papers: Active and Interactive Mapping with Dynamic Gaussi…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
We introduce Dynamic Gaussian Splatting SLAM (DGS-SLAM), the first dynamic SLAM framework built on the foundation of Gaussian Splatting. While recent advancements in dense SLAM have leveraged Gaussian Splatting to enhance scene…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
Detecting and recognizing objects interacting with humans lie in the center of first-person (egocentric) daily activity recognition. However, due to noisy camera motion and frequent changes in viewpoint and scale, most of the previous…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Recent 3D Gaussian Splatting (3DGS) techniques for Visual Simultaneous Localization and Mapping (SLAM) have significantly progressed in tracking and high-fidelity mapping. However, their sequential optimization framework and sensitivity to…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
3D Gaussian Splatting, known for enabling high-quality static scene reconstruction with fast rendering, is increasingly being applied to multi-view dynamic scene reconstruction. A common strategy involves learning a deformation field to…
In recent interactive segmentation algorithms, previous probability maps are used as network input to help predictions in the current segmentation round. However, despite the utilization of previous masks, useful information contained in…
Traditional explicit 3D representations, such as point clouds and meshes, demand significant storage to capture fine geometric details and require complex indexing systems for surface lookups, making functional representations an efficient,…
We present a real-time global illumination approach along with a pipeline for dynamic 3D Gaussian models and meshes. Building on a formulated surface light transport model for 3D Gaussians, we address key performance challenges with a fast…
The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not…
This paper reports on a dynamic semantic mapping framework that incorporates 3D scene flow measurements into a closed-form Bayesian inference model. Existence of dynamic objects in the environment can cause artifacts and traces in current…