相关论文: 3D Neural Scene Representations for Visuomotor Con…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…

We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

In this paper, we aim to model 3D scene dynamics from multi-view videos. Unlike the majority of existing works which usually focus on the common task of novel view synthesis within the training time period, we propose to simultaneously…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

We propose an action-conditioned dynamics model that predicts scene changes caused by object and agent interactions in a viewpoint-invariant 3D neural scene representation space, inferred from RGB-D videos. In this 3D feature space, objects…

We present a method that learns a spatiotemporal neural irradiance field for dynamic scenes from a single video. Our learned representation enables free-viewpoint rendering of the input video. Our method builds upon recent advances in…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

We, as human beings, can understand and picture a familiar scene from arbitrary viewpoints given a single image, whereas this is still a grand challenge for computers. We hereby present a novel solution to mimic such human perception…

We present a novel method for performing flexible, 3D-aware image content manipulation while enabling high-quality novel view synthesis. While NeRF-based approaches are effective for novel view synthesis, such models memorize the radiance…

We present a novel framework for dynamic radiance field prediction given monocular video streams. Unlike previous methods that primarily focus on predicting future frames, our method goes a step further by generating explicit 3D…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

We propose a framework for learning neural scene representations directly from images, without 3D supervision. Our key insight is that 3D structure can be imposed by ensuring that the learned representation transforms like a real 3D scene.…

Learning generalizable robotic manipulation policies remains a key challenge due to the scarcity of diverse real-world training data. While recent approaches have attempted to mitigate this through self-supervised representation learning,…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

We present dynamic neural radiance fields for modeling the appearance and dynamics of a human face. Digitally modeling and reconstructing a talking human is a key building-block for a variety of applications. Especially, for telepresence…

In recent years, deep generative models have gained significance due to their ability to synthesize natural-looking images with applications ranging from virtual reality to data augmentation for training computer vision models. While…

Recent implicit neural rendering methods have demonstrated that it is possible to learn accurate view synthesis for complex scenes by predicting their volumetric density and color supervised solely by a set of RGB images. However, existing…