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Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
We present Pose-NDF, a continuous model for plausible human poses based on neural distance fields (NDFs). Pose or motion priors are important for generating realistic new poses and for reconstructing accurate poses from noisy or partial…
It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state representations with supervision from Neural Radiance Fields (NeRFs) can improve…
Dynamic Neural Radiance Fields (NeRFs) achieve remarkable visual quality when synthesizing novel views of time-evolving 3D scenes. However, the common reliance on backward deformation fields makes reanimation of the captured object poses…
Neural Radiance Fields (NeRFs) are a powerful representation for modeling a 3D scene as a continuous function. Though NeRF is able to render complex 3D scenes with view-dependent effects, few efforts have been devoted to exploring its…
Physical reasoning is a remarkable human ability that enables rapid learning and generalization from limited experience. Current AI models, despite extensive training, still struggle to achieve similar generalization, especially in…
Face reenactment is challenging due to the need to establish dense correspondence between various face representations for motion transfer. Recent studies have utilized Neural Radiance Field (NeRF) as fundamental representation, which…
Despite the advances in extracting local features achieved by handcrafted and learning-based descriptors, they are still limited by the lack of invariance to non-rigid transformations. In this paper, we present a new approach to compute…
Neural Radiance Fields (NeRFs) have emerged as a standard framework for representing 3D scenes and objects, introducing a novel data type for information exchange and storage. Concurrently, significant progress has been made in multimodal…
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional safety frameworks treat contact as unsafe, restricting…
We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for…
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing methods, relying solely on visual inputs, often fail to capture…
3D reconstruction from images has wide applications in Virtual Reality and Automatic Driving, where the precision requirement is very high. Ground-breaking research in the neural radiance field (NeRF) by utilizing Multi-Layer Perceptions…
We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…
The quality of three-dimensional reconstruction is a key factor affecting the effectiveness of its application in areas such as virtual reality (VR) and augmented reality (AR) technologies. Neural Radiance Fields (NeRF) can generate…
Recently, Neural Radiance Fields (NeRF) has shown promising performances on reconstructing 3D scenes and synthesizing novel views from a sparse set of 2D images. Albeit effective, the performance of NeRF is highly influenced by the quality…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
Existing neural reconstruction schemes such as Neural Radiance Field (NeRF) are largely focused on modeling opaque objects. We present a novel neural refractive field(NeReF) to recover wavefront of transparent fluids by simultaneously…
Neural Radiance Fields (NeRF) have received considerable attention recently, due to its impressive capability in photo-realistic 3D reconstruction and novel view synthesis, given a set of posed camera images. Earlier work usually assumes…
Mesh reconstruction from Neural Radiance Fields (NeRF) is widely used in 3D reconstruction and has been applied across numerous domains. However, existing methods typically rely solely on the given training set images, which restricts…