4 papers
ParticleSplat: Self-supervised Object-centric Latent Particle Splatting
Lyuxing He, Daniel Guo, Elizabeth Terveen +3
We present ParticleSplat, a self-supervised object-centric learning method that decomposes scenes into a set of latent ''particles'' representing semantic entities through feedforw…
3D-DLP: Self-Supervised 3D Object-Centric Scene Representation Learning
Ellina Zhang, Madhaven Iyengar, Amir Zadeh +4
We introduce 3D-DLP, a self-supervised object-centric representation learning model that decomposes scene-level RGB-D or voxel observations into a set of 3D latent particles. Build…
Disentangled Point Diffusion for Precise Object Placement
Lyuxing He, Eric Cai, Shobhit Aggarwal +2
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility,…
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation
Jenny Wang, Octavian Donca, David Held
Relative placement tasks are an important category of tasks in which one object needs to be placed in a desired pose relative to another object. Previous work has shown success in…