8 papers
AnchorDream: Repurposing Video Diffusion for Embodiment-Aware Robot Data Synthesis
Junjie Ye, Rong Xue, Basile Van Hoorick +4
The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limi…
Pantheon360: Taming Digital Twin Generation via 3D-Aware 360° Video Diffusion
Ting-Hsuan Chen, Ying-Huan Chen, Tao Tu +10
Generating complete digital twins from videos requires precise camera control, global scene coverage, and strict spatial-temporal consistency constraints that remain challenging fo…
VideoGPA: Distilling Geometry Priors for 3D-Consistent Video Generation
Hongyang Du, Junjie Ye, Xiaoyan Cong +7
While recent video diffusion models (VDMs) produce visually impressive results, they fundamentally struggle to maintain 3D structural consistency, often resulting in object deforma…
Fiducial Exoskeletons: Image-Centric Robot State Estimation
Cameron Smith, Basile Van Hoorick, Vitor Guizilini +1
We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image infe…
Neural Eulerian Scene Flow Fields
Kyle Vedder, Neehar Peri, Ishan Khatri +7
We reframe scene flow as the task of estimating a continuous space-time ODE that describes motion for an entire observation sequence, represented with a neural prior. Our method, E…
Discriminately Treating Motion Components Evolves Joint Depth and Ego-Motion Learning
Mengtan Zhang, Zizhan Guo, Hongbo Zhao +6
Unsupervised learning of depth and ego-motion, two fundamental 3D perception tasks, has made significant strides in recent years. However, most methods treat ego-motion as an auxil…