相关论文: RoboArmGS: High-Quality Robotic Arm Splatting via …

Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties of robots and the objects they manipulate. Existing methods…

Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner.…

This work focuses on modeling dynamic urban environments for autonomous driving simulation. Contemporary data-driven methods using neural radiance fields have achieved photorealistic driving scene modeling, but they suffer from low…

The realistic reconstruction of street scenes is critical for developing real-world simulators in autonomous driving. Most existing methods rely on object pose annotations, using these poses to reconstruct dynamic objects and move them…

The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…

3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

We present a novel animatable 3D Gaussian model for rendering high-fidelity free-view human motions in real time. Compared to existing NeRF-based methods, the model owns better capability in synthesizing high-frequency details without the…

Real-time rendering of high-fidelity and animatable avatars from monocular videos remains a challenging problem in computer vision and graphics. Over the past few years, the Neural Radiance Field (NeRF) has made significant progress in…

Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…

While neural rendering has demonstrated impressive capabilities in 3D scene reconstruction and novel view synthesis, it heavily relies on high-quality sharp images and accurate camera poses. Numerous approaches have been proposed to train…

Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…

Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…

Articulated objects, as prevalent entities in human life, their 3D representations play crucial roles across various applications. However, achieving both high-fidelity textured surface reconstruction and dynamic generation for articulated…

Reconstructing high-fidelity 3D head avatars is crucial in various applications such as virtual reality. The pioneering methods reconstruct realistic head avatars with Neural Radiance Fields (NeRF), which have been limited by training and…

Recent advancements in 3D Gaussian Splatting (3DGS) have greatly influenced neural fields, as it enables high-fidelity rendering with impressive visual quality. However, 3DGS has difficulty accurately representing surfaces. In contrast,…

3D Gaussian Splatting (3DGS) has recently advanced radiance field reconstruction by offering superior capabilities for novel view synthesis and real-time rendering speed. However, its strategy of blending optimization and adaptive density…

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…

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…

3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality…