Related papers: RoboGSim: A Real2Sim2Real Robotic Gaussian Splatti…
Physics simulation is paramount for modeling and utilizing 3D scenes in various real-world applications. However, integrating with state-of-the-art 3D scene rendering techniques such as Gaussian Splatting (GS) remains challenging. Existing…
We present DeSiRe-GS, a self-supervised gaussian splatting representation, enabling effective static-dynamic decomposition and high-fidelity surface reconstruction in complex driving scenarios. Our approach employs a two-stage optimization…
Recently, 3D Gaussian Splatting (3D-GS) has prevailed in novel view synthesis, achieving high fidelity and efficiency. However, it often struggles to capture rich details and complete geometry. Our analysis reveals that the 3D-GS…
Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
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…
3D Gaussian Splatting (3DGS) has emerged as a powerful explicit representation enabling real-time, high-fidelity 3D reconstruction and novel view synthesis. However, its practical use is hindered by the massive memory and computational…
Recent advances in 3D Gaussian Splatting (3DGS) have garnered significant attention in computer vision and computer graphics due to its high rendering speed and remarkable quality. While extant research has endeavored to extend the…
4D Gaussian Splatting has emerged as a new paradigm for dynamic scene representation, enabling real-time rendering of scenes with complex motions. However, it faces a major challenge of storage overhead, as millions of Gaussians are…
Physical simulation predicts future states of objects based on material properties and external loads, enabling blueprints for both Industry and Engineering to conduct risk management. Current 3D reconstruction-based simulators typically…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Novel view synthesis of dynamic scenes has been an intriguing yet challenging problem. Despite recent advancements, simultaneously achieving high-resolution photorealistic results, real-time rendering, and compact storage remains a…
Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…
While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. We present…
Reconstructing deformable tissues from endoscopic videos is essential in many downstream surgical applications. However, existing methods suffer from slow rendering speed, greatly limiting their practical use. In this paper, we introduce…
Recent advancements in high-fidelity dynamic scene reconstruction have leveraged dynamic 3D Gaussians and 4D Gaussian Splatting for realistic scene representation. However, to make these methods viable for real-time applications such as…
3D Gaussian splatting (3DGS) has shown promising results in image rendering and surface reconstruction. However, its potential in volumetric reconstruction tasks, such as X-ray computed tomography, remains under-explored. This paper…
3D Gaussian Splatting (3DGS) achieves high-fidelity rendering with fast real-time performance, but existing methods rely on offline training after full Structure-from-Motion (SfM) processing. In contrast, this work introduces Gaussian…
Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…
Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural…