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

Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…

Neural Radiance Fields (NeRFs) have remodeled 3D scene representation since release. NeRFs can effectively reconstruct complex 3D scenes from 2D images, advancing different fields and applications such as scene understanding, 3D content…

This paper investigates training better visual world models for robot manipulation, i.e., models that can predict future visual observations by conditioning on past frames and robot actions. Specifically, we consider world models that…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…

Neural networks transform high-dimensional data into compact, structured representations, often modeled as elements of a lower dimensional latent space. In this paper, we present an alternative interpretation of neural models as dynamical…

Predictive coding theories suggest that the brain learns by predicting observations at various levels of abstraction. One of the most basic prediction tasks is view prediction: how would a given scene look from an alternative viewpoint?…

We extend neural 3D representations to allow for intuitive and interpretable user control beyond novel view rendering (i.e. camera control). We allow the user to annotate which part of the scene one wishes to control with just a small…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

Making generative models 3D-aware bridges the 2D image space and the 3D physical world yet remains challenging. Recent attempts equip a Generative Adversarial Network (GAN) with a Neural Radiance Field (NeRF), which maps 3D coordinates to…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

As the intermediate-level representations bridging the two levels, structured representations of visual scenes, such as visual relationships between pairwise objects, have been shown to not only benefit compositional models in learning to…

Humans and animals have a rich and flexible understanding of the physical world, which enables them to infer the underlying dynamical trajectories of objects and events, plausible future states, and use that to plan and anticipate the…

Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…

Despite decades of research, understanding human manipulation activities is, and has always been, one of the most attractive and challenging research topics in computer vision and robotics. Recognition and prediction of observed human…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

Predicting scene dynamics from visual observations is challenging. Existing methods capture dynamics only within observed boundaries failing to extrapolate far beyond the training sequence. Node-RF (Neural ODE-based NeRF) overcomes this…

Reasoning the 3D structure of a non-rigid dynamic scene from a single moving camera is an under-constrained problem. Inspired by the remarkable progress of neural radiance fields (NeRFs) in photo-realistic novel view synthesis of static…

One's ability to learn a generative model of the world without supervision depends on the extent to which one can construct abstract knowledge representations that generalize across experiences. To this end, capturing an accurate…