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Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…
3D Gaussian Splatting (3DGS) has garnered significant attention due to its superior scene representation fidelity and real-time rendering performance, especially for dynamic 3D scene reconstruction (\textit{i.e.}, 4D reconstruction).…
Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural…
Representing underwater 3D scenes is a valuable yet complex task, as attenuation and scattering effects during underwater imaging significantly couple the information of the objects and the water. This coupling presents a significant…
Recently, 3D Gaussian Splatting (3DGS) has reshaped the field of photorealistic 3D reconstruction, achieving impressive rendering quality and speed. However, when applied to large-scale street scenes, existing methods suffer from rapidly…
3D Gaussian Splatting (3DGS) demonstrates unparalleled superior performance in 3D scene reconstruction. However, 3DGS heavily relies on the sharp images. Fulfilling this requirement can be challenging in real-world scenarios especially when…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
Mobile robots and IoT devices demand real-time localization and dense reconstruction under tight compute and energy budgets. While 3D Gaussian Splatting (3DGS) enables efficient dense SLAM, dynamic objects and occlusions still degrade…
Reconstructing deformable tissues from endoscopic videos is essential in many downstream surgical applications. However, existing methods suffer from slow rendering speed, greatly limiting their practical use. In this paper, we introduce…
LiDAR novel view synthesis (NVS) has emerged as a novel task within LiDAR simulation, offering valuable simulated point cloud data from novel viewpoints to aid in autonomous driving systems. However, existing LiDAR NVS methods typically…
Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient approach for accurately representing scenes. However, despite its superior novel view synthesis capabilities, extracting the geometry of the scene directly from the Gaussian…
Adverse climate conditions pose significant challenges for autonomous systems, demanding reliable perception and decision-making across diverse environments. To better simulate these conditions, physically-based NeRF rendering methods have…
Novel view synthesis for dynamic scenes is still a challenging problem in computer vision and graphics. Recently, Gaussian splatting has emerged as a robust technique to represent static scenes and enable high-quality and real-time novel…
In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as…
Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS),…
We propose a new simulator, training approach, and policy architecture, collectively called SOUS VIDE, for end-to-end visual drone navigation. Our trained policies exhibit zero-shot sim-to-real transfer with robust real-world performance…
Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…
Gaussian Splatting has emerged as a leading method for novel view synthesis, offering superior training efficiency and real-time inference compared to NeRF approaches, while still delivering high-quality reconstructions. Beyond view…
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…
3D Gaussian Splatting (3DGS) is a technique to create high-quality, real-time 3D scenes from images. This method often produces visual artifacts known as floaters--nearly transparent, disconnected elements that drift in space away from the…