26 citations · 29 across the 26 of their papers we have counts for
12 papers · 1 filter
Robust Bayesian Scene Reconstruction with Retrieval-Augmented Priors for Precise Grasping and Planning
Herbert Wright, Weiming Zhi, Martin Matak +2
Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noi…
SplaTraj: Camera Trajectory Generation with Semantic Gaussian Splatting
Xinyi Liu, Tianyi Zhang, Matthew Johnson-Roberson +1
Many recent developments for robots to represent environments have focused on photorealistic reconstructions. This paper particularly focuses on generating sequences of images from…
PhotoReg: Photometrically Registering 3D Gaussian Splatting Models
Ziwen Yuan, Tianyi Zhang, Matthew Johnson-Roberson +1
Building accurate representations of the environment is critical for intelligent robots to make decisions during deployment. Advances in photorealistic environment models have enab…
Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generation
Quanting Xie, So Yeon Min, Pengliang Ji +7
There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented genera…
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…
Learning Shared RGB-D Fields: Unified Self-supervised Pre-training for Label-efficient LiDAR-Camera 3D Perception
Xiaohao Xu, Ye Li, Tianyi Zhang +3
Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of sel…
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…
Teaching Robots Where To Go And How To Act With Human Sketches via Spatial Diagrammatic Instructions
Qilin Sun, Weiming Zhi, Tianyi Zhang +1
This paper introduces Spatial Diagrammatic Instructions (SDIs), an approach for human operators to specify objectives and constraints that are related to spatial regions in the wor…
DarkGS: Learning Neural Illumination and 3D Gaussians Relighting for Robotic Exploration in the Dark
Tianyi Zhang, Kaining Huang, Weiming Zhi +1
Humans have the remarkable ability to construct consistent mental models of an environment, even under limited or varying levels of illumination. We wish to endow robots with this…
Customizable Perturbation Synthesis for Robust SLAM Benchmarking
Xiaohao Xu, Tianyi Zhang, Sibo Wang +6
Robustness is a crucial factor for the successful deployment of robots in unstructured environments, particularly in the domain of Simultaneous Localization and Mapping (SLAM). Sim…