Related papers: D-Prism: Differentiable Primitives for Structured …
Despite transformative advances in generative motion synthesis, real-time interactive motion control remains dominated by traditional techniques. In this work, we identify two key challenges in bridging research and production: 1) Real-time…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address…
Neural implicit representations, including Neural Distance Fields and Neural Radiance Fields, have demonstrated significant capabilities for reconstructing surfaces with complicated geometry and topology, and generating novel views of a…
Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
We introduce FLAG-4D, a novel framework for generating novel views of dynamic scenes by reconstructing how 3D Gaussian primitives evolve through space and time. Existing methods typically rely on a single Multilayer Perceptron (MLP) to…
The motion of deformable 4D objects lies in a low-dimensional manifold. To better capture the low dimensionality and enable better controllability, traditional methods have devised several heuristic-based methods, i.e., rigging, for…
Qualifying the discrepancy between 3D geometric models, which could be represented with either point clouds or triangle meshes, is a pivotal issue with board applications. Existing methods mainly focus on directly establishing the…
We propose GauS-SLAM, a dense RGB-D SLAM system that leverages 2D Gaussian surfels to achieve robust tracking and high-fidelity mapping. Our investigations reveal that Gaussian-based scene representations exhibit geometry distortion under…
The recovery of 3D shape and pose from 2D landmarks stemming from a large ensemble of images can be viewed as a non-rigid structure from motion (NRSfM) problem. Classical NRSfM approaches, however, are problematic as they rely on heuristic…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Manipulating transparent objects presents significant challenges due to the complexities introduced by their reflection and refraction properties, which considerably hinder the accurate estimation of their 3D shapes. To address these…
This paper addresses the problem of dynamic scene surface reconstruction using Gaussian Splatting (GS), aiming to recover temporally consistent geometry. While existing GS-based dynamic surface reconstruction methods can yield superior…
This paper presents a novel approach to reconstruct complete 3D deformable models over time by a single depth camera. These are the steps employed for deforming objects from single depth camera. The partial surfaces reconstructed from…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
Estimating 6D poses and reconstructing 3D shapes of objects in open-world scenes from RGB-depth image pairs is challenging. Many existing methods rely on learning geometric features that correspond to specific templates while disregarding…
Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
Video dataset condensation aims to reduce the immense computational cost of video processing. However, it faces a fundamental challenge regarding the inseparable interdependence between spatial appearance and temporal dynamics. Prior work…
Differentiable particle-based simulation can produce physically plausible motion, but target-driven volumetric shape morphing remains underconstrained: physics-only mass matching captures coarse global structure yet struggles with fine…