13 papers
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5
Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to unders…
SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception
Liang Hong, Jiaxin Wei, Simon Schaefer +2
Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches base…
Large-Scale High-Quality 3D Gaussian Head Reconstruction from Multi-View Captures
Evangelos Ntavelis, Sean Wu, Mohamad Shahbazi +21
We propose HeadsUp, a scalable feed-forward method for reconstructing high-quality 3D Gaussian heads from large-scale multi-camera setups. Our method employs an efficient encoder-d…
Robot Self-Improvement via Human-Video Dynamics Models
Hanzhi Chen, Anran Zhang, Simon Schaefer +5
A central question in robot learning is how to acquire skills from the kinds of data that humans learn from: passive observation, embodied practice, and the experience of failure.…
HumanHalo -- Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Simon Schaefer, Helen Oleynikova, Sandra Hirche +1
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation…
HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control
Simon Schaefer, Joshua Näf, Stefan Leutenegger
Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predi…