Related papers: VISION-SLS: Safe Perception-Based Control from Lea…
We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…
We present Stable View Synthesis (SVS). Given a set of source images depicting a scene from freely distributed viewpoints, SVS synthesizes new views of the scene. The method operates on a geometric scaffold computed via…
We propose a novel controller synthesis involving feedback from pixels, whereby the measurement is a high dimensional signal representing a pixelated image with Red-Green-Blue (RGB) values. The approach neither requires feature extraction,…
Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…
The goal of Novel View Synthesis (NVS) is to generate realistic images of a given content from unseen viewpoints. But how can we trust that a generated image truly reflects the intended transformation? Evaluating its reliability remains a…
We present GPU-SLS, a GPU-parallelized framework for safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our method jointly optimizes an…
We address the problem of novel view synthesis (NVS) from a few sparse source view images. Conventional image-based rendering methods estimate scene geometry and synthesize novel views in two separate steps. However, erroneous geometry…
System Level Synthesis (SLS) allows us to construct internally stabilizing controllers for large-scale systems. However, solving large-scale SLS problems is computationally expensive and the state-of-the-art methods consider only state…
A fundamental bottleneck in Novel View Synthesis (NVS) for autonomous driving is the inherent supervision gap on novel trajectories: models are tasked with synthesizing unseen views during inference, yet lack ground truth images for these…
Novel-view synthesis techniques achieve impressive results for static scenes but struggle when faced with the inconsistencies inherent to casual capture settings: varying illumination, scene motion, and other unintended effects that are…
Scene view synthesis, which generates novel views from limited perspectives, is increasingly vital for applications like virtual reality, augmented reality, and robotics. Unlike object-based tasks, such as generating 360{\deg} views of a…
Vision-Language Models (VLMs) have demonstrated great potential in interpreting remote sensing (RS) images through language-guided semantic. However, the effectiveness of these VLMs critically depends on high-quality image-text training…
Visual observations from different viewpoints can significantly influence the performance of visuomotor policies in robotic manipulation. Among these, egocentric (in-hand) views often provide crucial information for precise control.…
Zero-shot novel view synthesis (NVS) from a single image is an essential problem in 3D object understanding. While recent approaches that leverage pre-trained generative models can synthesize high-quality novel views from in-the-wild…
Recently, end-to-end robotic manipulation models have gained significant attention for their generalizability and scalability. However, they often suffer from limited robustness to camera viewpoint changes when training with a fixed camera.…
Novel View Synthesis (NVS) from unconstrained photo collections is challenging in computer graphics. Recently, 3D Gaussian Splatting (3DGS) has shown promise for photorealistic and real-time NVS of static scenes. Building on 3DGS, we…
Neural view synthesis (NVS) is one of the most successful techniques for synthesizing free viewpoint videos, capable of achieving high fidelity from only a sparse set of captured images. This success has led to many variants of the…
Recently, 3D Gaussian Splatting (3DGS) has exceled in novel view synthesis (NVS) with its real-time rendering capabilities and superior quality. However, it faces challenges for high-resolution novel view synthesis (HRNVS) due to the coarse…
Novel View Synthesis (NVS), which tries to produce a realistic image at the target view given source view images and their corresponding poses, is a fundamental problem in 3D Vision. As this task is heavily under-constrained, some recent…
Methods for Novel View Synthesis (NVS) have recently found traction in the field of LiDAR simulation and large-scale 3D scene reconstruction. While solutions for faster rendering or handling dynamic scenes have been proposed, LiDAR specific…