Related papers: Gaussian Process-Based Active Exploration Strategi…

Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel)…

Understanding open-vocabulary 3D scenes with Gaussian-based representations remains challenging due to fragmented and spatially inconsistent semantic predictions across multi-view observations. In this paper, we present OpenGaFF, a novel…

Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…

We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…

Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…

Autonomous grasping is an important factor for robots physically interacting with the environment and executing versatile tasks. However, a universally applicable, cost-effective, and rapidly deployable autonomous grasping approach is still…

Novel view synthesis has seen significant advancements with 3D Gaussian Splatting (3DGS), enabling real-time photorealistic rendering. However, the inherent fuzziness of Gaussian Splatting presents challenges for 3D scene understanding,…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…

Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…

3D editing plays a crucial role in editing and reusing existing 3D assets, thereby enhancing productivity. Recently, 3DGS-based methods have gained increasing attention due to their efficient rendering and flexibility. However, achieving…

Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose…

Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…

3D Gaussian Splatting (3DGS) has revolutionized 3D scene representation with superior efficiency and quality. While recent adaptations for computed tomography (CT) show promise, they struggle with severe artifacts under highly sparse-view…

Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to…

Deep implicit surfaces excel at modeling generic shapes but do not always capture the regularities present in manufactured objects, which is something simple geometric primitives are particularly good at. In this paper, we propose a…