4 papers
RecGS: Removing Water Caustic with Recurrent Gaussian Splatting
Tianyi Zhang, Weiming Zhi, Kaining Huang +3
Water caustics are commonly observed in seafloor imaging data from shallow-water areas. Traditional methods that remove caustic patterns from images often rely on 2D filtering or p…
3D Foundation Models Enable Simultaneous Geometry and Pose Estimation of Grasped Objects
Weiming Zhi, Haozhan Tang, Tianyi Zhang +1
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the obje…
From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking
Xiaohao Xu, Tianyi Zhang, Sibo Wang +6
Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to…
Unifying Scene Representation and Hand-Eye Calibration with 3D Foundation Models
Weiming Zhi, Haozhan Tang, Tianyi Zhang +1
Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted c…