Related papers: GaussianProperty: Integrating Physical Properties …
This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that…
Understanding physical properties such as friction, stiffness, hardness, and material composition is essential for enabling robots to interact safely and effectively with their surroundings. However, existing 3D reconstruction methods focus…
We introduce PhysGaussian, a new method that seamlessly integrates physically grounded Newtonian dynamics within 3D Gaussians to achieve high-quality novel motion synthesis. Employing a custom Material Point Method (MPM), our approach…
Recent advancements in 3D generation models have opened new possibilities for simulating dynamic 3D object movements and customizing behaviors, yet creating this content remains challenging. Current methods often require manual assignment…
In recent years, there has been rapid development in 3D generation models, opening up new possibilities for applications such as simulating the dynamic movements of 3D objects and customizing their behaviors. However, current 3D generative…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
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…
Forecasting future scenarios in dynamic environments is essential for intelligent decision-making and navigation, a challenge yet to be fully realized in computer vision and robotics. Traditional approaches like video prediction and…
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…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…
We introduce GaussianCut, a new method for interactive multiview segmentation of scenes represented as 3D Gaussians. Our approach allows for selecting the objects to be segmented by interacting with a single view. It accepts intuitive user…
Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…
Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…
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…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
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…
Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language…
Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps,…
Recently, significant advancements have been made in the reconstruction and generation of 3D assets, including static cases and those with physical interactions. To recover the physical properties of 3D assets, existing methods typically…
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…