Related papers: Immersive Teleoperation Framework for Locomanipula…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
This work evaluates three 3D user interaction techniques to investigate their visuo-spatial working memory support for users' data exploration in immersive analytics. Two techniques are the common VR locomotion technique, Walking and…
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing solutions rely on multi-camera setups or costly ray…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
Recent advances in novel view synthesis have demonstrated impressive results in fast photorealistic scene rendering through differentiable point rendering, either via Gaussian Splatting (3DGS) [Kerbl and Kopanas et al. 2023] or neural point…
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to enable multi-stage manipulation tasks. Splat-MOVER consists…
We introduce Forecast-aware Gaussian Splatting (Forecast-GS), a predictive 3D representation framework for language-conditioned robotic manipulation. While recent manipulation systems have made progress by grounding language instructions…
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…
Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…
Novel view synthesis (NVS) of static and dynamic urban scenes is essential for autonomous driving simulation, yet existing methods often struggle to balance reconstruction time with quality. While state-of-the-art neural radiance fields and…
Reconstructing dynamic scenes with multiple interacting humans and objects from sparse-view inputs is a critical yet challenging task, essential for creating high-fidelity digital twins for robotics and VR/AR. This problem, which we term…
Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with…
Language-guided 3D scene understanding is important for advancing applications in robotics, AR/VR, and human-computer interaction, enabling models to comprehend and interact with 3D environments through natural language. While 2D…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Volumetric medical imaging offers great potential for understanding complex pathologies. Yet, traditional 2D slices provide little support for interpreting spatial relationships, forcing users to mentally reconstruct anatomy into three…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…