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Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-point and periodic tasks, as long as a…

Neural Radiance Fields (NeRF) have demonstrated impressive performance in novel view synthesis. However, NeRF and most of its variants still rely on traditional complex pipelines to provide extrinsic and intrinsic camera parameters, such as…

Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics,…

Talking head generation based on the neural radiation fields model has shown promising visual effects. However, the slow rendering speed of NeRF seriously limits its application, due to the burdensome calculation process over hundreds of…

We introduce a novel framework that integrates Neural Radiance Fields (NeRF) with Material Point Method (MPM) simulation to infer granular material properties from visual observations. Our approach begins by generating synthetic…

We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ…

In this paper, we propose a Neural Radiance Fields (NeRF) based framework, referred to as Novel View Synthesis Framework (NVSF). It jointly learns the implicit neural representation of space and time-varying scene for both LiDAR and Camera.…

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ…

Geodesics are essential in many geometry processing applications. However, traditional algorithms for computing geodesic distances and paths on 3D mesh models are often inefficient and slow. This makes them impractical for scenarios that…

In recent decades, advancements in motion learning have enabled robots to acquire new skills and adapt to unseen conditions in both structured and unstructured environments. In practice, motion learning methods capture relevant patterns and…

Most of the previous 3D human pose estimation work relied on the powerful memory capability of the network to obtain suitable 2D-3D mappings from the training data. Few works have studied the modeling of human posture deformation in motion.…

Generalizable neural radiance field (NeRF) enables neural-based digital human rendering without per-scene retraining. When combined with human prior knowledge, high-quality human rendering can be achieved even with sparse input views.…

Neural radiance fields (NeRF) appeared recently as a powerful tool to generate realistic views of objects and confined areas. Still, they face serious challenges with open scenes, where the camera has unrestricted movement and content can…

Neural radiance fields (NeRFs) have become a ubiquitous tool for modeling scene appearance and geometry from multiview imagery. Recent work has also begun to explore how to use additional supervision from lidar or depth sensor measurements…

Myocardial motion tracking stands as an essential clinical tool in the prevention and detection of cardiovascular diseases (CVDs), the foremost cause of death globally. However, current techniques suffer from incomplete and inaccurate…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

This paper introduces a novel paradigm for the generalizable neural radiance field (NeRF). Previous generic NeRF methods combine multiview stereo techniques with image-based neural rendering for generalization, yielding impressive results,…

Non-Rigid Structure from Motion (NRSfM) refers to the problem of reconstructing cameras and the 3D point cloud of a non-rigid object from an ensemble of images with 2D correspondences. Current NRSfM algorithms are limited from two…

Despite Neural Radiance Fields (NeRF) showing compelling results in photorealistic novel views synthesis of real-world scenes, most existing approaches require accurate prior camera poses. Although approaches for jointly recovering the…

In visual computing, 3D geometry is represented in many different forms including meshes, point clouds, voxel grids, level sets, and depth images. Each representation is suited for different tasks thus making the transformation of one…