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Neural radiance fields (NeRFs) have shown impressive results for novel view synthesis. However, they depend on the repetitive use of a single-input single-output multilayer perceptron (SISO MLP) that maps 3D coordinates and view direction…

Data-driven approaches have become a dominant paradigm for robotic grasp planning. However, the performance of these approaches is enormously influenced by the quality of the available training data. In this paper, we propose a framework to…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

Recent work in Neural Fields (NFs) learn 3D representations from class-specific single view image collections. However, they are unable to reconstruct the input data preserving high-frequency details. Further, these methods do not…

When your robot grasps an object using dexterous hands or grippers, it should understand the Task-Oriented Affordances of the Object(TOAO), as different tasks often require attention to specific parts of the object. To address this…

3D content manipulation is an important computer vision task with many real-world applications (e.g., product design, cartoon generation, and 3D Avatar editing). Recently proposed 3D GANs can generate diverse photorealistic 3D-aware…

Neural Radiance Field (NeRF) models are implicit neural scene representation methods that offer unprecedented capabilities in novel view synthesis. Semantically-aware NeRFs not only capture the shape and radiance of a scene, but also encode…

Humans live in a 3D world and commonly use natural language to interact with a 3D scene. Modeling a 3D language field to support open-ended language queries in 3D has gained increasing attention recently. This paper introduces LangSplat,…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

Reconstructing hand-held objects from a single RGB image is an important and challenging problem. Existing works utilizing Signed Distance Fields (SDF) reveal limitations in comprehensively capturing the complex hand-object interactions,…

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene…

We present Seg-R1, a preliminary exploration of using reinforcement learning (RL) to enhance the pixel-level understanding and reasoning capabilities of large multimodal models (LMMs). Starting with foreground segmentation tasks,…

We combine neural rendering with multi-modal image and text representations to synthesize diverse 3D objects solely from natural language descriptions. Our method, Dream Fields, can generate the geometry and color of a wide range of objects…

Learning discriminative 3D representations that generalize well to unknown testing categories is an emerging requirement for many real-world 3D applications. Existing well-established methods often struggle to attain this goal due to…

In recent years, there has been a surge of interest in open-vocabulary 3D scene reconstruction facilitated by visual language models (VLMs), which showcase remarkable capabilities in open-set retrieval. However, existing methods face some…

Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer…

Grasp detection is a persistent and intricate challenge with various industrial applications. Recently, many methods and datasets have been proposed to tackle the grasp detection problem. However, most of them do not consider using natural…

Neural Radiance Fields (NeRF) have been widely adopted for reconstructing high quality 3D point clouds from 2D RGB images. However, the segmentation of these reconstructed 3D scenes is more essential for downstream tasks such as object…

Neural Radiance Fields (NeRFs) have recently emerged as a popular option for photo-realistic object capture due to their ability to faithfully capture high-fidelity volumetric content even from handheld video input. Although much research…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…