相关论文: Towards Learning a Generalizable 3D Scene Represen…

We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background (stuff). Each object is represented by an oriented 3D bounding box and a multi-layer…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

3D-aware image generative modeling aims to generate 3D-consistent images with explicitly controllable camera poses. Recent works have shown promising results by training neural radiance field (NeRF) generators on unstructured 2D images, but…

Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D…

We study the problem of novel view synthesis from sparse source observations of a scene comprised of 3D objects. We propose a simple yet effective approach that is neither continuous nor implicit, challenging recent trends on view…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

We introduce an improved solution to the neural image-based rendering problem in computer vision. Given a set of images taken from a freely moving camera at train time, the proposed approach could synthesize a realistic image of the scene…

Real-time rendering with global illumination is crucial to afford the user realistic experience in virtual environments. We present a learning-based estimator to predict diffuse indirect illumination in screen space, which then is combined…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

We present a method that learns a spatiotemporal neural irradiance field for dynamic scenes from a single video. Our learned representation enables free-viewpoint rendering of the input video. Our method builds upon recent advances in…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physically plausible 3D scene from a single monocular RGB image.…

Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Semantic occupancy has recently gained significant traction as a prominent 3D scene representation. However, most existing methods rely on large and costly datasets with fine-grained 3D voxel labels for training, which limits their…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…