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Despite advances in physics-based 3D motion synthesis, current methods face key limitations: reliance on pre-reconstructed 3D Gaussian Splatting (3DGS) built from dense multi-view images with time-consuming per-scene optimization; physics…
Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…
Volumetric video represents a transformative advancement in visual media, enabling users to freely navigate immersive virtual experiences and narrowing the gap between digital and real worlds. However, the need for extensive manual…
3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…
3D Gaussian Splat (3DGS) enables high-fidelity, real-time novel view synthesis by representing scenes with large sets of anisotropic primitives, but often requires millions of Splats, incurring significant storage and transmission costs.…
Generating synthetic images is a useful method for cheaply obtaining labeled data for training computer vision models. However, obtaining accurate 3D models of relevant objects is necessary, and the resulting images often have a gap in…
Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…
Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise patterns inherent to real sensors. In this work, inspired by…
3D Gaussian Splatting (3DGS) enables high-fidelity real-time rendering, a key requirement for immersive applications. However, the extension of 3DGS to dynamic scenes remains limitations on the substantial data volume of dense Gaussians and…
3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although…
3D Gaussian Splatting has made a marked impact on neural rendering by achieving impressive fidelity and performance. Despite this achievement, however, it is not readily applicable to developing interactive applications. Real-time…
Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…
3D Gaussian Splatting (3DGS) has emerged as a prominent 3D representation for high-fidelity and real-time rendering. Prior work has coupled physics simulation with Gaussians, but predominantly targets soft, deformable materials, leaving…
Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that…
Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless,…
Recent advancements in 3D Gaussian Splatting (3D-GS) have established new benchmarks for rendering quality and efficiency in 3D reconstruction. However, 3D-GS faces critical limitations when generating novel views that significantly deviate…
The scalability of embodied intelligence is fundamentally constrained by the scarcity of real-world interaction data. While simulation platforms provide a promising alternative, existing approaches often suffer from a substantial visual and…
Reconstructing dynamic 3D scenes from 2D images and generating diverse views over time is challenging due to scene complexity and temporal dynamics. Despite advancements in neural implicit models, limitations persist: (i) Inadequate Scene…