Related papers: PUGS: Zero-shot Physical Understanding with Gaussi…
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 present Multi-Baseline Gaussian Splatting (MuGS), a generalized feed-forward approach for novel view synthesis that effectively handles diverse baseline settings, including sparse input views with both small and large baselines.…
Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view synthesis and thus is attractive for data generation.…
Holistic understanding of urban scenes based on RGB images is a challenging yet important problem. It encompasses understanding both the geometry and appearance to enable novel view synthesis, parsing semantic labels, and tracking moving…
Tracking and manipulating irregularly-shaped, previously unseen objects in dynamic environments is important for robotic applications in manufacturing, assembly, and logistics. Recently introduced Gaussian Splats efficiently model object…
3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis. However, existing methods struggle to adaptively optimize the distribution of Gaussian primitives based on scene characteristics, making it…
One of the key advantages of 3D rendering is its ability to simulate intricate scenes accurately. One of the most widely used methods for this purpose is Gaussian Splatting, a novel approach that is known for its rapid training and…
Image-based 3D reconstruction is a challenging task that involves inferring the 3D shape of an object or scene from a set of input images. Learning-based methods have gained attention for their ability to directly estimate 3D shapes. This…
Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…
When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing…
Zero-shot neural scene segmentation, which reconstructs 3D neural segmentation field without manual annotations, serves as an effective way for scene understanding. However, existing models, especially the efficient 3D Gaussian-based…
We present Cloth-HUGS, a Gaussian Splatting based neural rendering framework for photorealistic clothed human reconstruction that explicitly disentangles body and clothing. Unlike prior methods that absorb clothing into a single body…
Following the advent of NeRFs, 3D Gaussian Splatting (3D-GS) has paved the way to real-time neural rendering overcoming the computational burden of volumetric methods. Following the pioneering work of 3D-GS, several methods have attempted…
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…
Recent advances in 3D Gaussian Splatting (3DGS) have achieved state-of-the-art results for novel view synthesis. However, efficiently capturing high-fidelity reconstructions of specific objects within complex scenes remains a significant…
For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…
Novel view synthesis has demonstrated impressive progress recently, with 3D Gaussian splatting (3DGS) offering efficient training time and photorealistic real-time rendering. However, reliance on Cartesian coordinates limits 3DGS's…
3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…
3D Gaussian Splatting (3DGS) has emerged as a transformative method in the field of real-time novel synthesis. Based on 3DGS, recent advancements cope with large-scale scenes via spatial-based partition strategy to reduce video memory and…