相关论文: Low Resolution Next Best View for Robot Packing

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific…

Novel view synthesis (NVS) has advanced with generative modeling, enabling photorealistic image generation. In few-shot NVS, where only a few input views are available, existing methods often assume equal importance for all input views…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

Robotic manipulation requires explicit or implicit knowledge of the robot's joint positions. Precise proprioception is standard in high-quality industrial robots but is often unavailable in inexpensive robots operating in unstructured…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

Visual reasoning, a cornerstone of human intelligence, encompasses complex perceptual and logical processes essential for solving diverse visual problems. While advances in computer vision have produced powerful models for various…

Representation learning approaches typically rely on images of objects captured from a single perspective that are transformed using affine transformations. Additionally, self-supervised learning, a successful paradigm of representation…

Neural Radiance Fields, or NeRFs, have drastically improved novel view synthesis and 3D reconstruction for rendering. NeRFs achieve impressive results on object-centric reconstructions, but the quality of novel view synthesis with…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…

When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant information, which increases…

Three-dimensional object detection is one of the key tasks in autonomous driving. To reduce costs in practice, low-cost multi-view cameras for 3D object detection are proposed to replace the expansive LiDAR sensors. However, relying solely…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…

Digital human animation relies on high-quality 3D models of the human face: rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We propose a novel…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Despite recent advancements in the Large Reconstruction Model (LRM) demonstrating impressive results, when extending its input from single image to multiple images, it exhibits inefficiencies, subpar geometric and texture quality, as well…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…