相关论文: ManiGaussian: Dynamic Gaussian Splatting for Multi…

Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action generation. However, standard action-imitation learning often…

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…

Real-time rendering of dynamic scenes with view-dependent effects remains a fundamental challenge in computer graphics. While recent advances in Gaussian Splatting have shown promising results separately handling dynamic scenes (4DGS) and…

We introduce Dynamic Gaussian Splatting SLAM (DGS-SLAM), the first dynamic SLAM framework built on the foundation of Gaussian Splatting. While recent advancements in dense SLAM have leveraged Gaussian Splatting to enhance scene…

This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…

Dynamic reconstruction of deformable tissues in endoscopic video is a key technology for robot-assisted surgery. Recent reconstruction methods based on neural radiance fields (NeRFs) have achieved remarkable results in the reconstruction of…

We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…

3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling in-the-wild scenes affected by…

Reconstructing 3D scenes with high fidelity and efficiency remains a central pursuit in computer vision and graphics. Recent advances in 3D Gaussian Splatting (3DGS) enable photorealistic rendering with Gaussian primitives, yet the modeling…

TL;DR: Gaussian Splatting is a widely adopted approach for 3D scene representation, offering efficient, high-quality reconstruction and rendering. A key reason for its success is the simplicity of representing scenes with sets of Gaussians,…

3D Gaussian Splatting (3DGS) enables high-fidelity real-time rendering, a key requirement for immersive applications. However, the extension of 3DGS to dynamic scenes remains limitations on the substantial data volume of dense Gaussians and…

Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless,…

3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplored. Multi-agent Gaussian SLAM is a promising approach to…

We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously. In this system, we incorporate…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…

Latent scene representation plays a significant role in training reinforcement learning (RL) agents. To obtain good latent vectors describing the scenes, recent works incorporate the 3D-aware latent-conditioned NeRF pipeline into scene…

Reconstructing clean, distractor-free 3D scenes from real-world captures remains a significant challenge, particularly in highly dynamic and cluttered settings such as egocentric videos. To tackle this problem, we introduce DeGauss, a…

In the field of 3D dynamic scene reconstruction, how to balance model convergence rate and rendering quality has long been a critical challenge that urgently needs to be addressed, particularly in high-precision modeling of scenes with…

Existing NeRF-based methods for large scene reconstruction often have limitations in visual quality and rendering speed. While the recent 3D Gaussian Splatting works well on small-scale and object-centric scenes, scaling it up to large…