21 papers
One Scene, Two Depths: Probing Geometric Ambiguity in Monocular Foundation Models
Xiaohao Xu, Feng Xue, Xiang Li +5
A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces. Monocular depth est…
Efficient Construction of Implicit Surface Models From a Single Image for Motion Generation
Wei-Teng Chu, Tianyi Zhang, Matthew Johnson-Roberson +1
Implicit representations have been widely applied in robotics for obstacle avoidance and path planning. In this paper, we explore the problem of constructing an implicit distance r…
Bi-Manual Joint Camera Calibration and Scene Representation
Haozhan Tang, Tianyi Zhang, Matthew Johnson-Roberson +1
Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or ev…
From Single Images to Motion Policies via Video-Generation Environment Representations
Weiming Zhi, Ziyong Ma, Tianyi Zhang +1
Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of con…
GraphSeg: Segmented 3D Representations via Graph Edge Addition and Contraction
Haozhan Tang, Tianyi Zhang, Oliver Kroemer +2
Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the rob…
Infinite Leagues Under the Sea: Photorealistic 3D Underwater Terrain Generation by Latent Fractal Diffusion Models
Tianyi Zhang, Weiming Zhi, Joshua Mangelson +1
This paper tackles the problem of generating representations of underwater 3D terrain. Off-the-shelf generative models, trained on Internet-scale data but not on specialized underw…