Related papers: Navigation and 3D Surface Reconstruction from Pass…
Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…
Location retrieval based on visual information is to retrieve the location of an agent (e.g. human, robot) or the area they see by comparing the observations with a certain form of representation of the environment. Existing methods…
Reconfigurable intelligent surfaces (RISs) have attracted increasing interest due to their ability to improve the coverage, reliability, and energy efficiency of millimeter wave (mmWave) communication systems. However, designing the RIS…
Compared with contact-based fingerprint acquisition techniques, contactless acquisition has the advantages of less skin distortion, larger fingerprint area, and hygienic acquisition. However, perspective distortion is a challenge in…
Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
Reconfigurable Intelligent Surfaces (RISs) promise improved, secure and more efficient wireless communications. We propose and demonstrate how to exploit the diversity offered by RISs to generate and select easily differentiable radio maps…
Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…
Acquiring an anatomical map from position data is important for medical applications where catheters interact with soft tissues. To improve autonomous navigation in these settings, we require information beyond nonparametric maps typically…
We address the problem of unsupervised learning of complex articulated object models from 3D range data. We describe an algorithm whose input is a set of meshes corresponding to different configurations of an articulated object. The…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…
This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…
Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose…
The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…
We present 3D PixBrush, a method for performing image-driven edits of local regions on 3D meshes. 3D PixBrush predicts a localization mask and a synthesized texture that faithfully portray the object in the reference image. Our predicted…
Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…
To achieve fully autonomous navigation, vehicles need to compute an accurate model of their direct surrounding. In this paper, a 3D surface reconstruction algorithm from heterogeneous density 3D data is presented. The proposed method is…