Related papers: Active Visuo-Haptic Object Shape Completion

Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…

We propose ActiveSplat, an autonomous high-fidelity reconstruction system leveraging Gaussian splatting. Taking advantage of efficient and realistic rendering, the system establishes a unified framework for online mapping, viewpoint…

Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…

Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…

Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…

Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. We present ReTac-ACT (Reconstruction-enhanced Tactile ACT), a…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

One major challenge in 3D reconstruction is to infer the complete shape geometry from partial foreground occlusions. In this paper, we propose a method to reconstruct the complete 3D shape of an object from a single RGB image, with…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

With the growing practical interest in vision-based tasks for autonomous systems, the need for efficient and complex methods becomes increasingly larger. In the rush to develop new methods with the aim to outperform the current state of the…

Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

We introduce the task of Reconstructing Objects along Hand Interaction Timelines (ROHIT). We first define the Hand Interaction Timeline (HIT) from a rigid object's perspective. In a HIT, an object is first static relative to the scene, then…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…