3 citations · 29 across the 66 of their papers we have counts for
85 papers
Modular Bayesian Inference for Partially Misspecified Mixtures with Uncertain Class Labels
Maximilian Autenrieth, Konstantin Karchev, David A. van Dyk +2
Scientific inference often involves observations from multiple latent populations whose class memberships are uncertain and must be inferred from available data. While full Bayesia…
Imagine3D-LLM: Teaching MLLMs to Imagine 3D Scenes Before Answering
Jaewoo Jung, Hyeonseo Yu, Honggyu An +10
Reasoning about the 3D world from multi-view images remains a fundamental challenge for Multimodal Large Language Models (MLLMs). While modern MLLMs handle single-image inputs effe…
Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM
Rui Zhou, Zihan Zhu, Wei Zhang +3
We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides. Inside a moving elevator, the two sensors are…
ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction
Tim Engelbracht, René Zurbrügg, Mayank Mittal +4
Manipulating objects requires understanding not only their motion, but also the physical properties that determine it. For articulated objects, these include inertia, friction, and…
SplashSplat: Reconstructing Splashing Liquids from Real-World Multi-View Videos
Peiyu Liu, Dingxi Zhang, Federico Tombari +3
A splash lives for a fraction of a second: sheets tear into ligaments and droplets, appearance is view-dependent and nearly textureless, and little persists long enough to track. R…
Map-Det3D: Metric Feed-Forward 3D Reconstruction Prior for Multi-view 3D Object Detection from Streaming Inputs
Yung-Hsu Yang, Luigi Piccinelli, Samuel Rota Bulò +7
Metric 3D object detection is a core capability for embodied agents, yet most reliable systems lean on depth sensors, trading away cost, power, and integration simplicity. This mot…
EgoTrack3D: A Modular Framework for Egocentric 3D Object Tracking
Jan Kulik, Bjarni Dagur Thor Karason, Yung-Hsu Yang +3
Understanding 3D scenes from egocentric video is fundamental for robotics and autonomous navigation, yet rapid viewpoint changes and partial occlusions make building structured rep…
DVPSFormer: Efficient Online Depth-aware Video Panoptic Segmentation for Autonomous Driving
Yung-Hsu Yang, Luigi Piccinelli, Siyuan Li +8
Safe autonomous navigation requires a holistic understanding of dynamic environments, necessitating the simultaneous estimation of metric depth, semantic segmentation, and instance…
Head Avatars with Dynamic Explicit Hair
Vanessa Sklyarova, Haonan Chen, Berna Kabadayi +8
We present DynHair, a novel method for tracking and modeling dynamic hair for human head avatars. From video input, we reconstruct a dynamic head avatar with an explicit strand-bas…
LangLoc: "Tell Me What You See"
Shaurya Kishore Panwar, Roham Zendehdel Nobari, Shirley Feng Yi Lau +4
We tackle fine-grained indoor localization from natural language: given a free-form description of one's surroundings, estimate the observer's 2D position and heading within a know…
LIME: Learning Intent-aware Camera Motion from Egocentric Video
Boyang Sun, Jiajie Li, Yung-Hsu Yang +6
Autonomous robots often need to move their camera before they can act: to inspect an object, reveal an occluded region, or obtain a view that responds to a user's intent. While vis…
SuperFlex: Deformable Superquadrics for Point Cloud Decomposition
Gabriel Tavernini, Elisabetta Fedele, Tiago Novello +3
Superquadrics have proven to provide a compact, geometrically meaningful representation for 3D objects. However, existing methods suffer from limited reconstruction accuracy, are r…
OrthoTrack: Continuous 6-DoF UAV Trajectory Estimation Anchored in Public Orthophotos
Oussema Dhaouadi, Zuria Bauer, Johannes Michael Meier +3
Continuous 6-DoF pose estimation is essential for autonomous UAV operations. Yet, existing visual odometry and SLAM methods accumulate drift and yield only relative, up-to-scale tr…
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
Nicolas Baumann, Liam Boyle, Pu Deng +5
Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental perception with language context, serving as a catalyst for open-voca…
ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos
Pranjal Mishra, René Zurbrügg, Max Wilder-Smith +4
Deploying robots in unstructured real-world environments needs accurate, interactive models of the objects. Constructing these models at scale remains a critical bottleneck for rob…
Geometric Action Model for Robot Policy Learning
Jisang Han, Seonghu Jeon, Jaewoo Jung +7
Generalist robot policies must follow user instructions while reasoning about how objects, cameras, and robot actions interact in the 3D physical world. Recent vision-language-acti…
Hand-4DGS: Feed-Forward 3D Gaussian Splatting for 4D Hand Reconstruction from Egocentric Videos
Jeongmin Bae, Seoha Kim, Marc Pollefeys +3
Dynamic 3D hand reconstruction from egocentric videos is essential for next-generation computing platforms such as AR/VR and AI glasses. Despite its importance, most prior works fo…
PROSE: Training-Free Egocentric Scene Registration with Vision-Language Models
Zhiang Chen, Nahyuk Lee, Boyang Sun +4
Registering two captures of the same indoor space taken at different times underpins persistent spatial memory for robots and AR systems, yet the realistic version of this task is…
From Frames to Temporal Graphs: In-Context Egocentric Action Recognition with Vision-Language Models
Bessie Dominguez-Dager, Francisco Gomez-Donoso, Miguel Cazorla +3
Action reasoning in egocentric video requires capturing fine-grained transitions of hand-object interactions, a task where general-purpose Vision-Language Models (VLMs) often strug…
SG2Loc: Sequential Visual Localization on 3D Scene Graphs
Nicole Damblon, Olga Vysotska, Federico Tombari +2
Visual localization in complex indoor environments remains a critical challenge for robotics and AR applications. Sequential localization, where pose estimates are refined over tim…
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
Xinggang Hu, Chenyangguang Zhang, Alexandros Delitzas +4
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and fun…
FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videos
Alexandros Delitzas, Chenyangguang Zhang, Alexey Gavryushin +8
We present FunRec, a method for reconstructing functional 3D digital twins of indoor scenes directly from egocentric RGB-D interaction videos. Unlike existing methods on articulate…
Memory Over Maps: 3D Object Localization Without Reconstruction
Rui Zhou, Xander Yap, Jianwen Cao +3
Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enab…
FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning
Zhengyu Fu, René Zurbrügg, Kaixian Qu +4
Recent work in 3D scene understanding is moving beyond purely spatial analysis toward functional scene understanding. However, existing methods often consider functional relationsh…