相关论文: QuaDreamer: Controllable Panoramic Video Generatio…

People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…

World models have made significant progress in modeling dynamic environments; however, most embodied world models are still restricted to 2D representations, lacking the comprehensive multi-view information essential for embodied spatial…

Explorable 3D world generation from a single image or text prompt forms a cornerstone of spatial intelligence. Recent works utilize video model to achieve wide-scope and generalizable 3D world generation. However, existing approaches often…

This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…

Panoramic images provide comprehensive scene information and are suitable for VR applications. Obtaining corresponding depth maps is essential for achieving immersive and interactive experiences. However, panoramic depth estimation presents…

Data-driven algorithms have surpassed traditional techniques in almost every aspect in robotic vision problems. Such algorithms need vast amounts of quality data to be able to work properly after their training process. Gathering and…

Accurate 3D geometric perception is an important prerequisite for a wide range of spatial AI systems. While state-of-the-art methods depend on large-scale training data, acquiring consistent and precise 3D annotations from in-the-wild…

Recent advances in foundational Video Diffusion Models (VDMs) have yielded significant progress. Yet, despite the remarkable visual quality of generated videos, reconstructing consistent 3D scenes from these outputs remains challenging, due…

We propose QLook, a quantum-driven predictive framework to improve viewport prediction accuracy in immersive virtual reality (VR) environments. The framework utilizes quantum neural networks (QNNs) to model the user movement data, which has…

Can we directly visualize what we imagine in our brain together with what we describe? The inherent nature of human perception reveals that, when we think, our body can combine language description and build a vivid picture in our brain.…

Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…

Panoramic image stitching provides a unified, wide-angle view of a scene that extends beyond the camera's field of view. Stitching frames of a panning video into a panoramic photograph is a well-understood problem for stationary scenes, but…

Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked.…

Camera control has been extensively studied in conditioned video generation; however, performing precisely altering the camera trajectories while faithfully preserving the video content remains a challenging task. The mainstream approach to…

We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…

Realistic object interactions are crucial for creating immersive virtual experiences, yet synthesizing realistic 3D object dynamics in response to novel interactions remains a significant challenge. Unlike unconditional or text-conditioned…

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…

Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT\&R system. Our system formulates event-stream matching as…