Related papers: Bridging Simulation and Reality: Cross-Domain Tran…
Reconstructing intricate, ever-changing environments remains a central ambition in computer vision, yet existing solutions often crumble before the complexity of real-world dynamics. We present DynaSplat, an approach that extends Gaussian…
Precisely perceiving the geometric and semantic properties of real-world 3D objects is crucial for the continued evolution of augmented reality and robotic applications. To this end, we present Foundation Model Embedded Gaussian Splatting…
Surgical reconstruction of dynamic tissues from endoscopic videos is a crucial technology in robot-assisted surgery. The development of Neural Radiance Fields (NeRFs) has greatly advanced deformable tissue reconstruction, achieving…
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,…
Generalising deep models to new data from new centres (termed here domains) remains a challenge. This is largely attributed to shifts in data statistics (domain shifts) between source and unseen domains. Recently, gradient-based…
We propose GGS, a Generalizable Gaussian Splatting method for Autonomous Driving which can achieve realistic rendering under large viewpoint changes. Previous generalizable 3D gaussian splatting methods are limited to rendering novel views…
Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This…
3D Gaussian Splatting has emerged as a powerful paradigm for explicit 3D scene representation, yet achieving efficient and consistent 3D segmentation remains challenging. Existing segmentation approaches typically rely on high-dimensional…
Robot manipulation in the real world is fundamentally constrained by the visual sim2real gap, where depth observations collected in simulation fail to reflect the complex noise patterns inherent to real sensors. In this work, inspired by…
In this paper, we present a novel algorithm for probabilistically updating and rasterizing semantic maps within 3D Gaussian Splatting (3D-GS). Although previous methods have introduced algorithms which learn to rasterize features in 3D-GS…
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…
Large scale image super-resolution is a challenging computer vision task, since vast information is missing in a highly degraded image, say for example forscale x16 super-resolution. Diffusion models are used successfully in recent years in…
Humans possess a large reachable space in the 3D world, enabling interaction with objects at varying heights and distances. However, realizing such large-space reaching on humanoids is a complex whole-body control problem and requires the…
The advent of 3D Gaussian Splatting (3D-GS) techniques and their dynamic scene modeling variants, 4D-GS, offers promising prospects for real-time rendering of dynamic surgical scenarios. However, the prerequisite for modeling dynamic scenes…
3D Gaussian Splatting (3DGS) has emerged as a promising approach for 3D scene representation, offering a reduction in computational overhead compared to Neural Radiance Fields (NeRF). However, 3DGS is susceptible to high-frequency artifacts…
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…
Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…
3D Gaussian Splatting (3DGS) has emerged as a transformative method in the field of real-time novel synthesis. Based on 3DGS, recent advancements cope with large-scale scenes via spatial-based partition strategy to reduce video memory and…
3D Gaussian Splatting (3DGS) provides an explicit and efficient scene representation, but its primitives lack inherent object-level identity, hindering downstream tasks such as open-vocabulary scene understanding. Existing methods typically…
Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…