相关论文: Bridging Simulation and Reality: Cross-Domain Tran…

Image representation is a fundamental task in computer vision. Recently, Gaussian Splatting has emerged as an efficient representation framework, and its extension to 2D image representation enables lightweight, yet expressive modeling of…

Dynamic scene rendering opens new avenues in autonomous driving by enabling closed-loop simulations with photorealistic data, which is crucial for validating end-to-end algorithms. However, the complex and highly dynamic nature of traffic…

Advancements in 3D rendering like Gaussian Splatting (GS) allow novel view synthesis and real-time rendering in virtual reality (VR). However, GS-created 3D environments are often difficult to edit. For scene enhancement or to incorporate…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

Understanding 3D scenes is pivotal for autonomous driving, robotics, and augmented reality. Recent semantic Gaussian Splatting approaches leverage large-scale 2D vision models to project 2D semantic features onto 3D scenes. However, they…

In this paper, we propose a novel semantic splatting approach based on Gaussian Splatting to achieve efficient and low-latency. Our method projects the RGB attributes and semantic features of point clouds onto the image plane,…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…

Reconstructing urban scenes is challenging due to their complex geometries and the presence of potentially dynamic objects. 3D Gaussian Splatting (3DGS)-based methods have shown strong performance, but existing approaches often incorporate…

Neural implicit representations, including Neural Distance Fields and Neural Radiance Fields, have demonstrated significant capabilities for reconstructing surfaces with complicated geometry and topology, and generating novel views of a…

Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in…

Conventional 3D style transfer methods rely on a fixed reference image to apply artistic patterns to 3D scenes. However, in practical applications such as virtual or augmented reality, users often prefer more flexible inputs, including…

3D Gaussian splatting (GS) has emerged as a transformative technique in radiance fields. Unlike mainstream implicit neural models, 3D GS uses millions of learnable 3D Gaussians for an explicit scene representation. Paired with a…

Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

Gaussian Splatting has rapidly emerged as a transformative technique for real-time 3D scene representation, offering a highly efficient and expressive alternative to Neural Radiance Fields (NeRF). Its ability to render complex scenes with…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

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.…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…