相关论文: Local Neural Descriptor Fields: Locally Conditione…

Generating context-adaptive manipulation and grasping actions is a challenging problem in robotics. Classical planning and control algorithms tend to be inflexible with regard to parameterization by external variables such as object shapes.…

We introduce a new task, novel view synthesis for LiDAR sensors. While traditional model-based LiDAR simulators with style-transfer neural networks can be applied to render novel views, they fall short of producing accurate and realistic…

Multimodal Large Language Models (MLLMs) have demonstrated an excellent understanding of images and 3D data. However, both modalities have shortcomings in holistically capturing the appearance and geometry of objects. Meanwhile, Neural…

Although neural radiance fields (NeRF) have shown impressive advances for novel view synthesis, most methods typically require multiple input images of the same scene with accurate camera poses. In this work, we seek to substantially reduce…

Physical reasoning is a remarkable human ability that enables rapid learning and generalization from limited experience. Current AI models, despite extensive training, still struggle to achieve similar generalization, especially in…

We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background (stuff). Each object is represented by an oriented 3D bounding box and a multi-layer…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

In this work, we focus on synthesizing high-fidelity novel view images for arbitrary human performers, given a set of sparse multi-view images. It is a challenging task due to the large variation among articulated body poses and heavy…

We introduce NIFT, Neural Interaction Field and Template, a descriptive and robust interaction representation of object manipulations to facilitate imitation learning. Given a few object manipulation demos, NIFT guides the generation of the…

We introduce ViewNeRF, a Neural Radiance Field-based viewpoint estimation method that learns to predict category-level viewpoints directly from images during training. While NeRF is usually trained with ground-truth camera poses, multiple…

Neural fields or implicit neural representations (INRs) have attracted significant attention in computer vision and imaging due to their efficient coordinate-based representation of images and 3D volumes. In this work, we introduce a…

The capability of Deep Neural Networks (DNNs) to recognize objects in orientations outside the distribution of the training data is not well understood. We present evidence that DNNs are capable of generalizing to objects in novel…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

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…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

This paper proposes a new method for manipulating unknown objects through a sequence of non-prehensile actions that displace an object from its initial configuration to a given goal configuration on a flat surface. The proposed method…

This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…

Generalization has been one of the major challenges for learning dynamics models in model-based reinforcement learning. However, previous work on action-conditioned dynamics prediction focuses on learning the pixel-level motion and thus…

It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state representations with supervision from Neural Radiance Fields (NeRFs) can improve…

We present an implicit neural representation to learn the spatio-temporal space of kinematic motions. Unlike previous work that represents motion as discrete sequential samples, we propose to express the vast motion space as a continuous…