相关论文: Leveraging Neural Descriptor Fields for Learning C…

We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ…

Modeling hand-object interactions is a fundamentally challenging task in 3D computer vision. Despite remarkable progress that has been achieved in this field, existing methods still fail to synthesize the hand-object interaction…

Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…

Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural Deforming Contact Field (NDCF), a representation that…

A robot operating in a household environment will see a wide range of unique and unfamiliar objects. While a system could train on many of these, it is infeasible to predict all the objects a robot will see. In this paper, we present a…

Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them using commodity RGB-D cameras or multi-view stereo…

We propose a novel framework for 3D-aware object manipulation, called Auto-Encoding Neural Radiance Fields (AE-NeRF). Our model, which is formulated in an auto-encoder architecture, extracts disentangled 3D attributes such as 3D shape,…

This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from…

Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…

The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so that actions can be followed to ensure a smooth progression of…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep reinforcement learning (DRL) based methods leverage human demonstrations to…

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…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…