Related papers: A Principled Approach for Creating High-fidelity S…

This paper addresses the challenge of novel-view synthesis and motion reconstruction of dynamic scenes from monocular video, which is critical for many robotic applications. Although Neural Radiance Fields (NeRF) and 3D Gaussian Splatting…

In this work, a novel Dynamic Movement Primitive (DMP) formulation is proposed which supports reversibility, i.e. backwards reproduction of a learned trajectory. Apart from sharing all favourable properties of the original DMP, decoupling…

Distribution matching distillation (DMD) facilitates few-step image generation by aligning a distilled student with a reference multi-step teacher. In practice, however, optimizing DMD can reduce sample diversity in few-step synthesis, and…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

Novel View Synthesis (NVS) for street scenes play a critical role in the autonomous driving simulation. The current mainstream technique to achieve it is neural rendering, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the solution space. For example, one pixel in the first frame might…

Novel-view synthesis aims to generate novel views of a scene from multiple input images or videos, and recent advancements like 3D Gaussian splatting (3DGS) have achieved notable success in producing photorealistic renderings with efficient…

Synthetic molecular dynamics (synMD) trajectories from learned generative models have been proposed as a useful addition to the biomolecular simulation toolbox. The computational expense of explicitly integrating the equations of motion in…

Synthesizing consistent and photorealistic 3D scenes is an open problem in computer vision. Video diffusion models generate impressive videos but cannot directly synthesize 3D representations, i.e., lack 3D consistency in the generated…

Learning robust and generalizable manipulation skills from demonstrations remains a key challenge in robotics, with broad applications in industrial automation and service robotics. While recent imitation learning methods have achieved…

3D Gaussian Splatting (3DGS) has demonstrated impressive performance in synthesizing novel views after training on a given set of viewpoints. However, its rendering quality deteriorates when the synthesized view deviates significantly from…

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…

In many real-world settings, regulations and economic incentives permit the sharing of models but not data across institutional boundaries. In such scenarios, practitioners might hope to adapt models to new domains, without losing…

Gaussian Process Motion Planning (GPMP) is a widely used framework for generating smooth trajectories within a limited compute time--an essential requirement in many robotic applications. However, traditional GPMP approaches often struggle…

Movement Primitives (MPs) are a well-established method for representing and generating modular robot trajectories. This work presents FA-ProDMP, a new approach which introduces force awareness to Probabilistic Dynamic Movement Primitives…

Multi-object tracking (MOT) and trajectory prediction are two critical components in modern 3D perception systems that require accurate modeling of multi-agent interaction. We hypothesize that it is beneficial to unify both tasks under one…

Diffusion probabilistic models (DPMs) have rapidly evolved to be one of the predominant generative models for the simulation of synthetic data, for instance, for computer vision, audio, natural language processing, or biomolecule…

The study of hand-object interaction requires generating viable grasp poses for high-dimensional multi-finger models, often relying on analytic grasp synthesis which tends to produce brittle and unnatural results. This paper presents…

Dynamic novel view synthesis (NVS) is essential for creating immersive experiences. Existing approaches have advanced dynamic NVS by introducing 3D Gaussian Splatting (3DGS) with implicit deformation fields or indiscriminately assigned…