16 citations · 79 across the 61 of their papers we have counts for
16 papers · 1 filter
Next Best View Selections for Semantic and Dynamic 3D Gaussian Splatting
Yiqian Li, Wen Jiang, Kostas Daniilidis
Understanding semantics and dynamics has been crucial for embodied agents in various tasks. Both tasks have much more data redundancy than the static scene understanding task. We f…
Zero-shot Reconstruction of In-Scene Object Manipulation from Video
Dixuan Lin, Tianyou Wang, Zhuoyang Pan +3
We build the first system to address the problem of reconstructing in-scene object manipulation from a monocular RGB video. It is challenging due to ill-posed scene reconstruction,…
A Multi-Robot Platform for Robotic Triage Combining Onboard Sensing and Foundation Models
Jason Hughes, Marcel Hussing, Edward Zhang +24
This report presents a heterogeneous robotic system designed for remote primary triage in mass-casualty incidents (MCIs). The system employs a coordinated air-ground team of unmann…
Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robots
Junyao Shi, Rujia Yang, Kaitian Chao +9
Today's best-explored routes towards generalist robots center on collecting ever larger "observations-in actions-out" robotics datasets to train large end-to-end models, copying a…
DIMO: Diverse 3D Motion Generation for Arbitrary Objects
Linzhan Mou, Jiahui Lei, Chen Wang +2
We present DIMO, a generative approach capable of generating diverse 3D motions for arbitrary objects from a single image. The core idea of our work is to leverage the rich priors…
ActiveGrasp: Information-Guided Active Grasping with Calibrated Energy-based Model
Boshu Lei, Wen Jiang, Kostas Daniilidis
Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose ge…
A Scalable, Causal, and Energy Efficient Framework for Neural Decoding with Spiking Neural Networks
Georgios Mentzelopoulos, Ioannis Asmanis, Konrad P. Kording +3
Brain-computer interfaces (BCIs) promise to enable vital functions, such as speech and prosthetic control, for individuals with neuromotor impairments. Central to their success are…
Active Next-Best-View Optimization for Risk-Averse Path Planning
Amirhossein Mollaei Khass, Guangyi Liu, Vivek Pandey +4
Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a…
Fast Feature Field (): A Predictive Representation of Events
Richeek Das, Kostas Daniilidis, Pratik Chaudhari
This paper develops a mathematical argument and algorithms for building representations of data from event-based cameras, that we call Fast Feature Field (). We learn t…
HELIOS: Hierarchical Exploration for Language-Grounded Interaction in Open Scenes
Katrina Ashton, Chahyon Ku, Shrey Shah +5
Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic info…
StereoDiff: Stereo-Diffusion Synergy for Video Depth Estimation
Haodong Li, Chen Wang, Jiahui Lei +2
Recent video depth estimation methods achieve great performance by following the paradigm of image depth estimation, i.e., typically fine-tuning pre-trained video diffusion models…
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee +29
Comprehensive, unbiased, and comparable evaluation of modern generalist policies is uniquely challenging: existing approaches for robot benchmarking typically rely on heavy standar…
PromptHMR: Promptable Human Mesh Recovery
Yufu Wang, Yu Sun, Priyanka Patel +3
Human pose and shape (HPS) estimation presents challenges in diverse scenarios such as crowded scenes, person-person interactions, and single-view reconstruction. Existing approach…
Neural Inertial Odometry from Lie Events
Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis +2
Neural displacement priors (NDP) can reduce the drift in inertial odometry and provide uncertainty estimates that can be readily fused with off-the-shelf filters. However, they fai…
Zero-1-to-G: Taming Pretrained 2D Diffusion Model for Direct 3D Generation
Xuyi Meng, Chen Wang, Jiahui Lei +3
Recent advances in 2D image generation have achieved remarkable quality,largely driven by the capacity of diffusion models and the availability of large-scale datasets. However, di…
Symmetries-enhanced Multi-Agent Reinforcement Learning
Nikolaos Bousias, Stefanos Pertigkiozoglou, Kostas Daniilidis +1
Multi-agent reinforcement learning has emerged as a powerful framework for enabling agents to learn complex, coordinated behaviors but faces persistent challenges regarding its gen…