6 papers
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Yunchao Zhang, Yijia Weng, Ruizhe Liu +3
Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-d…
Robot Learning from Any Images
Siheng Zhao, Jiageng Mao, Wei Chow +11
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a…
GaussianLens: Localized High-Resolution Reconstruction via On-Demand Gaussian Densification
Yijia Weng, Zhicheng Wang, Songyou Peng +3
We perceive our surroundings with an active focus, paying more attention to regions of interest, such as the shelf labels in a grocery store. When it comes to scene reconstruction,…
Feature4X: Bridging Any Monocular Video to 4D Agentic AI with Versatile Gaussian Feature Fields
Shijie Zhou, Hui Ren, Yijia Weng +8
Recent advancements in 2D and multimodal models have achieved remarkable success by leveraging large-scale training on extensive datasets. However, extending these achievements to…
AO-Grasp: Articulated Object Grasp Generation
Carlota Parés Morlans, Claire Chen, Yijia Weng +6
We introduce AO-Grasp, a grasp proposal method that generates 6 DoF grasps that enable robots to interact with articulated objects, such as opening and closing cabinets and applian…
MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds
Jiahui Lei, Yijia Weng, Adam Harley +2
We introduce 4D Motion Scaffolds (MoSca), a modern 4D reconstruction system designed to reconstruct and synthesize novel views of dynamic scenes from monocular videos captured casu…