Related papers: NRDF: Neural Riemannian Distance Fields for Learni…

We introduce Neural Riemannian Motion Fields (NRMF), a novel 3D generative human motion prior that enables robust, temporally consistent, and physically plausible 3D motion recovery. Unlike existing VAE or diffusion-based methods, our…

We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast…

We present Pose-NDF, a continuous model for plausible human poses based on neural distance fields (NDFs). Pose or motion priors are important for generating realistic new poses and for reconstructing accurate poses from noisy or partial…

In this work we target a learnable output representation that allows continuous, high resolution outputs of arbitrary shape. Recent works represent 3D surfaces implicitly with a Neural Network, thereby breaking previous barriers in…

Neural distance fields (NDF) have emerged as a powerful tool for addressing challenges in 3D computer vision and graphics downstream problems. While significant progress has been made to learn NDF from various kind of sensor data, a crucial…

While deep learning reshaped the classical motion capture pipeline with feed-forward networks, generative models are required to recover fine alignment via iterative refinement. Unfortunately, the existing models are usually hand-crafted or…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning. We show that by adding the capacity to infer occupancy in a radius to a pre-trained…

In this paper, we introduce a novel approach to implicitly encode precise robot morphology using forward kinematics based on a configuration space signed distance function. Our proposed Robot Neural Distance Function (RNDF) optimizes the…

Dense reconstruction and differentiable rendering are fundamental tightly connected operations in 3D vision and computer graphics. Recent neural implicit representations demonstrate compelling advantages in reconstruction fidelity and…

Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and…

Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…

We present Neural Articulated Radiance Field (NARF), a novel deformable 3D representation for articulated objects learned from images. While recent advances in 3D implicit representation have made it possible to learn models of complex…

Neural Radiance Fields (NeRF) has demonstrated its superior capability to represent 3D geometry but require accurately precomputed camera poses during training. To mitigate this requirement, existing methods jointly optimize camera poses…

We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…

Training a Neural Radiance Field (NeRF) without pre-computed camera poses is challenging. Recent advances in this direction demonstrate the possibility of jointly optimising a NeRF and camera poses in forward-facing scenes. However, these…

Neural Radiance Fields (NeRF) coupled with GANs represent a promising direction in the area of 3D reconstruction from a single view, owing to their ability to efficiently model arbitrary topologies. Recent work in this area, however, has…

Neural Radiance Fields (NeRFs) are trained to minimize the rendering loss of predicted viewpoints. However, the photometric loss often does not provide enough information to disambiguate between different possible geometries yielding the…