相关论文: Habitat-GS: A High-Fidelity Navigation Simulator w…

We present Habitat, a platform for research in embodied artificial intelligence (AI). Habitat enables training embodied agents (virtual robots) in highly efficient photorealistic 3D simulation. Specifically, Habitat consists of: (i)…

This work addresses the problem of real-time rendering of photorealistic human body avatars learned from multi-view videos. While the classical approaches to model and render virtual humans generally use a textured mesh, recent research has…

We present a novel framework for animating humans in 3D scenes using 3D Gaussian Splatting (3DGS), a neural scene representation that has recently achieved state-of-the-art photorealistic results for novel-view synthesis but remains…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

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…

We present SplattingAvatar, a hybrid 3D representation of photorealistic human avatars with Gaussian Splatting embedded on a triangle mesh, which renders over 300 FPS on a modern GPU and 30 FPS on a mobile device. We disentangle the motion…

Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…

Real-time rendering of photorealistic and controllable human avatars stands as a cornerstone in Computer Vision and Graphics. While recent advances in neural implicit rendering have unlocked unprecedented photorealism for digital avatars,…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

In this paper, we propose to create animatable avatars for interacting hands with 3D Gaussian Splatting (GS) and single-image inputs. Existing GS-based methods designed for single subjects often yield unsatisfactory results due to limited…

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…

Photorealistic avatars have become essential for immersive applications in virtual reality (VR) and augmented reality (AR), enabling lifelike interactions in areas such as training simulations, telemedicine, and virtual collaboration. These…

Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where…

Gaussian splatting has emerged as a powerful 3D representation that harnesses the advantages of both explicit (mesh) and implicit (NeRF) 3D representations. In this paper, we seek to leverage Gaussian splatting to generate realistic…

Realistic animatable human avatars from monocular videos are crucial for advancing human-robot interaction and enhancing immersive virtual experiences. While recent research on 3DGS-based human avatars has made progress, it still struggles…

In the context of autonomous navigation of terrestrial robots, the creation of realistic models for agent dynamics and sensing is a widespread habit in the robotics literature and in commercial applications, where they are used for model…

Gaussian Splatting has changed the game for real-time photo-realistic rendering. One of the most popular applications of Gaussian Splatting is to create animatable avatars, known as Gaussian Avatars. Recent works have pushed the boundaries…

The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…

Reconstructing photo-realistic and topology-aware animatable human avatars from monocular videos remains challenging in computer vision and graphics. Recently, methods using 3D Gaussians to represent the human body have emerged, offering…