14 papers
HoloTetSphere: Unified TetSphere Mesh Reconstruction for Physical Simulations
YaQiao Dai, Renjiao Yi, Zhirui Gao +3
Standard pipelines for physics-ready 3D reconstruction rely on a decoupled two-stage paradigm: extracting surface geometry followed by an error-prone tetrahedralization process. Wh…
DynaMOMA: Instantaneous Prediction of Grasp Poses for Mobile Manipulation of Dynamic Objects
Zhinan Yu, Junyan Xu, Jiazhao Zhang +9
Mobile manipulation is a fundamental robotics task and has advanced rapidly in recent years, enabling robots to navigate, reach, and interact with objects in complex environments.…
PAIWorld: A 3D-Consistent World Foundation Model for Robotic Manipulation
Yuhang Huang, Xuan Lv, Junyan Xu +25
World foundation models (WFMs) are powerful simulators, yet they predominantly operate in a single-view setting and lack the multi-view 3D consistency required for robotic manipula…
CycleDiff: Cycle Diffusion Models for Unpaired Image-to-image Translation
Shilong Zou, Yuhang Huang, Renjiao Yi +2
We introduce a diffusion-based cross-domain image translator in the absence of paired training data. Unlike GAN-based methods, our approach integrates diffusion models to learn the…
RemixFusion: Residual-based Mixed Representation for Large-scale Online RGB-D Reconstruction
Yuqing Lan, Chenyang Zhu, Shuaifeng Zhi +5
The introduction of the neural implicit representation has notably propelled the advancement of online dense reconstruction techniques. Compared to traditional explicit representat…
BoxFusion: Reconstruction-Free Open-Vocabulary 3D Object Detection via Real-Time Multi-View Box Fusion
Yuqing Lan, Chenyang Zhu, Zhirui Gao +5
Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offl…