11 papers
OREN: Octree Residual Network for Real-Time Euclidean Signed Distance Mapping
Zhirui Dai, Qihao Qian, Tianxing Fan +1
Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Meth…
Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors and Neural Residuals
Zhirui Dai, Hojoon Shin, Yulun Tian +2
Dense reconstruction and differentiable rendering are fundamental tightly connected operations in 3D vision and computer graphics. Recent neural implicit representations demonstrat…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani +4
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a p…
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning
Sunghwan Kim, Woojeh Chung, Zhirui Dai +5
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We…
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…