相关论文: Learning human-to-robot handovers through 3D scene…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…

Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…

Cloth folding is a widespread domestic task that is seemingly performed by humans but which is highly challenging for autonomous robots to execute due to the highly deformable nature of textiles; It is hard to engineer and learn…

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper…

Visual localization involves estimating a query image's 6-DoF (degrees of freedom) camera pose, which is a fundamental component in various computer vision and robotic tasks. This paper presents LoGS, a vision-based localization pipeline…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

Handover between a human and a dexterous robotic hand is a fundamental yet challenging task in human-robot collaboration. It requires handling dynamic environments and a wide variety of objects and demands robust and adaptive grasping…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

Recently, 3D Gaussian splatting has gained attention for its capability to generate high-fidelity rendering results. At the same time, most applications such as games, animation, and AR/VR use mesh-based representations to represent and…

3D Gaussian Splatting (3DGS) has emerged as a promising approach for 3D scene representation, offering a reduction in computational overhead compared to Neural Radiance Fields (NeRF). However, 3DGS is susceptible to high-frequency artifacts…

Simulation offers a promising approach for cheaply scaling training data for generalist policies. To scalably generate data from diverse and realistic tasks, existing algorithms either rely on large language models (LLMs) that may…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

In this work, we propose a novel clothed human reconstruction method called GaussianBody, based on 3D Gaussian Splatting. Compared with the costly neural radiance based models, 3D Gaussian Splatting has recently demonstrated great…

High-quality scene reconstruction and novel view synthesis based on Gaussian Splatting (3DGS) typically require steady, high-quality photographs, often impractical to capture with handheld cameras. We present a method that adapts to camera…

Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperforming traditional methods reliant on 2D camera feeds and…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Reconstructing dynamic scenes with complex human-object interactions is a fundamental challenge in computer vision and graphics. Existing Gaussian Splatting methods either rely on human pose priors while neglecting dynamic objects, or…