Related papers: Immersive Teleoperation Framework for Locomanipula…
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…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
We present SplattingAvatar, a hybrid 3D representation of photorealistic human avatars with Gaussian Splatting embedded on a triangle mesh, which renders over 300 FPS on a modern GPU and 30 FPS on a mobile device. We disentangle the motion…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…
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…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…
We introduce Dr. Splat, a novel approach for open-vocabulary 3D scene understanding leveraging 3D Gaussian Splatting. Unlike existing language-embedded 3DGS methods, which rely on a rendering process, our method directly associates…
3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…
Implicit neural representation has paved the way for new approaches to dynamic scene reconstruction and rendering. Nonetheless, cutting-edge dynamic neural rendering methods rely heavily on these implicit representations, which frequently…
Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…
We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…
3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or…
We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…
As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current methods show strong dependence on object detectors,…
Neural implicit representations, including Neural Distance Fields and Neural Radiance Fields, have demonstrated significant capabilities for reconstructing surfaces with complicated geometry and topology, and generating novel views of a…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…
Virtual reality (VR) significantly transforms immersive digital interfaces, greatly enhancing education, professional practices, and entertainment by increasing user engagement and opening up new possibilities in various industries. Among…
Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…