11 citations · 19 across the 10 of their papers we have counts for
11 papers
LYRIC: Language-Driven Physics-Based Character Control for Contact-Rich Whole-Body Object Interaction
Zeyu Han, Zichong Meng, Julian Tanke +8
We present LYRIC, a generative flow-matching controller for language-driven physics-based contact-rich interaction control, that enables simulated characters to perform contact-ric…
FineControlNet: Fine-level Text Control for Image Generation with Spatially Aligned Text Control Injection
Hongsuk Choi, Isaac Kasahara, Selim Engin +3
Recently introduced ControlNet has the ability to steer the text-driven image generation process with geometric input such as human 2D pose, or edge features. While ControlNet prov…
VioLA: Aligning Videos to 2D LiDAR Scans
Jun-Jee Chao, Selim Engin, Nikhil Chavan-Dafle +2
We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts w…
RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction
Isaac Kasahara, Shubham Agrawal, Selim Engin +3
General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such…
Real-time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction
Shubham Agrawal, Nikhil Chavan-Dafle, Isaac Kasahara +3
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scen…
Neural Optimal Control using Learned System Dynamics
Selim Engin, Volkan Isler
We study the problem of generating control laws for systems with unknown dynamics. Our approach is to represent the controller and the value function with neural networks, and to t…
Category-Level Global Camera Pose Estimation with Multi-Hypothesis Point Cloud Correspondences
Jun-Jee Chao, Selim Engin, Nicolai Häni +1
Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong corre…
Continuous Object Representation Networks: Novel View Synthesis without Target View Supervision
Nicolai Häni, Selim Engin, Jun-Jee Chao +1
Novel View Synthesis (NVS) is concerned with synthesizing views under camera viewpoint transformations from one or multiple input images. NVS requires explicit reasoning about 3D o…
Active localization of multiple targets using noisy relative measurements
Selim Engin, Volkan Isler
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should th…
Higher Order Function Networks for View Planning and Multi-View Reconstruction
Selim Engin, Eric Mitchell, Daewon Lee +2
We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D mod…
Asynchronous Network Formation in Unknown Unbounded Environments
Selim Engin, Volkan Isler
In this paper, we study the Online Network Formation Problem (ONFP) for a mobile multi-robot system. Consider a group of robots with a bounded communication range operating in a la…