相关论文: Preference-Driven Active 3D Scene Representation f…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…

Reinforcement Learning algorithms that learn from human feedback (RLHF) need to be efficient in terms of statistical complexity, computational complexity, and query complexity. In this work, we consider the RLHF setting where the feedback…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

We propose a novel explicit dense 3D reconstruction approach that processes a set of images of a scene with sensor poses and calibrations and estimates a photo-real digital model. One of the key innovations is that the underlying volumetric…

Reinforcement Learning from Human Feedback (RLHF) has recently surged in popularity, particularly for aligning large language models and other AI systems with human intentions. At its core, RLHF can be viewed as a specialized instance of…

Mesh reconstruction from Neural Radiance Fields (NeRF) is widely used in 3D reconstruction and has been applied across numerous domains. However, existing methods typically rely solely on the given training set images, which restricts…

Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…

Large language models in the past have typically relied on some form of reinforcement learning with human feedback (RLHF) to better align model responses with human preferences. However, because of oft-observed instabilities when…

This project presents an exploration into 3D scene reconstruction of synthetic and real-world scenes using Neural Radiance Field (NeRF) approaches. We primarily take advantage of the reduction in training and rendering time of neural…

Reinforcement learning from human feedback (RLHF) has evolved to be one of the main methods for fine-tuning large language models (LLMs). However, existing RLHF methods are non-robust, and their performance deteriorates if the downstream…

Designing a reinforcement learning from human feedback (RLHF) algorithm to approximate a human's unobservable reward function requires assuming, implicitly or explicitly, a model of human preferences. A preference model that poorly…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. Inspection planning, particularly of distributed targets in…

Reinforcement Learning from Human Feedback (RLHF) has become central to aligning large language models with human values, typically by first learning a reward model from preference data which is then used to update the model with…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Existing methods for interactive segmentation in radiance fields entail scene-specific optimization and thus cannot generalize across different scenes, which greatly limits their applicability. In this work we make the first attempt at…

Geometric 3D scene classification is a very challenging task. Current methodologies extract the geometric information using only a depth channel provided by an RGB-D sensor. These kinds of methodologies introduce possible errors due to…

Neural Radiance Fields (NeRFs) have shown great potential in modeling 3D scenes. Dynamic NeRFs extend this model by capturing time-varying elements, typically using deformation fields. The existing dynamic NeRFs employ a similar Eulerian…