相关论文: Immersive Teleoperation Framework for Locomanipula…
Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…
We present Instant Skinned Gaussian Avatars, a real-time and cross-platform 3D avatar system. Many approaches have been proposed to animate Gaussian Splatting, but they often require camera arrays, long preprocessing times, or high-end…
Efficient neural representations for dynamic video scenes are critical for applications ranging from video compression to interactive simulations. Yet, existing methods often face challenges related to high memory usage, lengthy training…
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…
Locomotion plays a crucial role in shaping the user experience within virtual reality environments. In particular, hands-free locomotion offers a valuable alternative by supporting accessibility and freeing users from reliance on handheld…
High-fidelity 3D video reconstruction is essential for enabling real-time rendering of dynamic scenes with realistic motion in virtual and augmented reality (VR/AR). The deformation field paradigm of 3D Gaussian splatting has achieved…
Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast…
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…
3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce…
While 3D Gaussian Splatting has achieved remarkable success in photorealistic novel view synthesis, its pursuit of fast and high-fidelity 3D reconstruction has long been constrained by a trade-off between geometric accuracy and optimization…
Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, manipulating granular materials such as beans, nuts, and rice,…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
3D scene reconstruction and rendering are core tasks in computer vision, with applications spanning industrial monitoring, robotics, and autonomous driving. Recent advances in 3D Gaussian Splatting (GS) and its variants have achieved…
We propose a novel cross-spectral rendering framework based on 3D Gaussian Splatting (3DGS) that generates realistic and semantically meaningful splats from registered multi-view spectrum and segmentation maps. This extension enhances the…
We propose a novel framework that enhances non-rigid 3D model deformations by bridging mesh representations with 3D Gaussian splatting. While traditional Gaussian splatting delivers fast, real-time radiance-field rendering, its post-editing…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…
The emergence of neural representations has revolutionized our means for digitally viewing a wide range of 3D scenes, enabling the synthesis of photorealistic images rendered from novel views. Recently, several techniques have been proposed…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…