相关论文: Immersive Teleoperation Framework for Locomanipula…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…
Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in…
Volumetric video represents a transformative advancement in visual media, enabling users to freely navigate immersive virtual experiences and narrowing the gap between digital and real worlds. However, the need for extensive manual…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for…
This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…
Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…
Sim2Real transfer, particularly for manipulation policies relying on RGB images, remains a critical challenge in robotics due to the significant domain shift between synthetic and real-world visual data. In this paper, we propose SplatSim,…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Recent advancements in Generalizable Gaussian Splatting have enabled robust 3D reconstruction from sparse input views by utilizing feed-forward Gaussian Splatting models, achieving superior cross-scene generalization. However, while many…
3D Gaussian Splatting represents a breakthrough in the field of novel view synthesis. It establishes Gaussians as core rendering primitives for highly accurate real-world environment reconstruction. Recent advances have drastically…
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…
This paper focuses on a challenging setting of simultaneously modeling geometry and appearance of hand-object interaction scenes without any object priors. We follow the trend of dynamic 3D Gaussian Splatting based methods, and address…
Sensor simulation is pivotal for scalable validation of autonomous driving systems, yet existing Neural Radiance Fields (NeRF) based methods face applicability and efficiency challenges in industrial workflows. This paper introduces a…
Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
This paper presents an approach to teleoperate a manipulator using a mobile phone as a leader device. Using its IMU and camera, the phone estimates its Cartesian pose which is then used to to control the Cartesian pose of the robot's tool.…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…