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

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Neural Radiance Fields (NeRFs) have emerged as a standard framework for representing 3D scenes and objects, introducing a novel data type for information exchange and storage. Concurrently, significant progress has been made in multimodal…

This paper introduces CoFie, a novel local geometry-aware neural surface representation. CoFie is motivated by the theoretical analysis of local SDFs with quadratic approximation. We find that local shapes are highly compressive in an…

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects…

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…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Implicit surfaces via neural radiance fields (NeRF) have shown surprising accuracy in surface reconstruction. Despite their success in reconstructing richly textured surfaces, existing methods struggle with planar regions with weak…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Learning from Demonstration (LfD) is a widely used technique for skill acquisition in robotics. However, demonstrations of the same skill may exhibit significant variances, or learning systems may attempt to acquire different means of the…

We present a novel method, called NeuralUDF, for reconstructing surfaces with arbitrary topologies from 2D images via volume rendering. Recent advances in neural rendering based reconstruction have achieved compelling results. However,…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

We propose a novel framework for 3D-aware object manipulation, called Auto-Encoding Neural Radiance Fields (AE-NeRF). Our model, which is formulated in an auto-encoder architecture, extracts disentangled 3D attributes such as 3D shape,…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…

Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we…

Predictive models can be particularly helpful for robots to effectively manipulate terrains in construction sites and extraterrestrial surfaces. However, terrain state representations become extremely high-dimensional especially to capture…

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…