Related papers: Immersive Teleoperation Framework for Locomanipula…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…
User-friendly 3D object editing is a challenging task that has attracted significant attention recently. The limitations of direct 3D object editing without 2D prior knowledge have prompted increased attention towards utilizing 2D…
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,…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
Intraoperative navigation relies heavily on precise 3D reconstruction to ensure accuracy and safety during surgical procedures. However, endoscopic scenarios present unique challenges, including sparse features and inconsistent lighting,…
3D Gaussian Splatting (3DGS) has rapidly become a leading technique for novel-view synthesis, providing exceptional performance through efficient software-based GPU rasterization. Its versatility enables real-time applications, including on…
Experience Goal Visual Rearrangement task stands as a foundational challenge within Embodied AI, requiring an agent to construct a robust world model that accurately captures the goal state. The agent uses this world model to restore a…
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…
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…
Photorealistic avatars have become essential for immersive applications in virtual reality (VR) and augmented reality (AR), enabling lifelike interactions in areas such as training simulations, telemedicine, and virtual collaboration. These…
Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…
Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…
We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene representations. This framework employs advanced object…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
We present CrowdSplat, a novel approach that leverages 3D Gaussian Splatting for real-time, high-quality crowd rendering. Our method utilizes 3D Gaussian functions to represent animated human characters in diverse poses and outfits, which…
In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical outcomes. However, existing methods primarily focus on…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…