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Neural Radiance Fields (NeRFs) have become a widely-applied scene representation technique in recent years, showing advantages for robot navigation and manipulation tasks. To further advance the utility of NeRFs for robotics, we propose a…
Neural networks can represent and accurately reconstruct radiance fields for static 3D scenes (e.g., NeRF). Several works extend these to dynamic scenes captured with monocular video, with promising performance. However, the monocular…
Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…
Neural Radiances Fields (NeRF) and their extensions have shown great success in representing 3D scenes and synthesizing novel-view images. However, most NeRF methods take in low-dynamic-range (LDR) images, which may lose details, especially…
The accurate reconstruction of dynamic scenes with neural radiance fields is significantly dependent on the estimation of camera poses. Widely used structure-from-motion pipelines encounter difficulties in accurately tracking the camera…
Neural Radiance Fields (NeRFs) have emerged as a groundbreaking paradigm for representing 3D objects and scenes by encoding shape and appearance information into the weights of a neural network. Recent studies have demonstrated that these…
In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…
A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, hand-crafted heuristics in order to perform such reasoning,…
Event cameras offer high-temporal-resolution sensing that remains reliable under high-speed motion and challenging lighting, making them promising for localization from LiDAR point clouds in GPS-denied and visually degraded environments.…
Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…
Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However,…
High-fidelity modeling of turbulent flows is one of the major challenges in computational physics, with diverse applications in engineering, earth sciences and astrophysics, among many others. The rising popularity of high-fidelity…
Virtual tour among sparse 360$^\circ$ images is widely used while hindering smooth and immersive roaming experiences. The emergence of Neural Radiance Field (NeRF) has showcased significant progress in synthesizing novel views, unlocking…
Human motion retargeting aims to transfer the motion of one person in a "driving" video or set of images to another person. Existing efforts leverage a long training video from each target person to train a subject-specific motion transfer…
3D rendering of dynamic face captures is a challenging problem, and it demands improvements on several fronts$\unicode{x2014}$photorealism, efficiency, compatibility, and configurability. We present a novel representation that enables…
Current feed-forward 3D/4D reconstruction systems rely on dense geometry and pose supervision -- expensive to obtain at scale and particularly scarce for dynamic real-world scenes. We present Flow3r, a framework that augments visual…
Learning-based simulators show great potential for simulating particle dynamics when 3D groundtruth is available, but per-particle correspondences are not always accessible. The development of neural rendering presents a new solution to…
Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…
Radiance fields have revolutionized photo-realistic 3D scene visualization by enabling high-fidelity reconstruction of complex environments, making them an ideal match for light field displays. However, integrating these technologies…
We reframe scene flow as the task of estimating a continuous space-time ODE that describes motion for an entire observation sequence, represented with a neural prior. Our method, EulerFlow, optimizes this neural prior estimate against…