9 citations · 9 across the 9 of their papers we have counts for
9 papers
WaterSplat-SLAM: Photorealistic Monocular SLAM in Underwater Environment
Kangxu Wang, Shaofeng Zou, Chenxing Jiang +4
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle t…
MG-Grasp: Metric-Scale Geometric 6-DoF Grasping Framework with Sparse RGB Observations
Kangxu Wang, Siang Chen, Chenxing Jiang +3
Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been st…
FantasyWorld: Geometry-Consistent World Modeling via Unified Video and 3D Prediction
Yixiang Dai, Fan Jiang, Chiyu Wang +2
High-quality 3D world models are pivotal for embodied intelligence and Artificial General Intelligence (AGI), underpinning applications such as AR/VR content creation and robotic n…
Understanding Generalizability of Diffusion Models Requires Rethinking the Hidden Gaussian Structure
Xiang Li, Yixiang Dai, Qing Qu
In this work, we study the generalizability of diffusion models by looking into the hidden properties of the learned score functions, which are essentially a series of deep denoise…
GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping
Pengwei Xie, Siang Chen, Qianrun Chen +5
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks,…
Efficient End-to-End 6-Dof Grasp Detection Framework for Edge Devices with Hierarchical Heatmaps and Feature Propagation
Kaiqin Yang, Yixiang Dai, Guijin Wang +1
6-DoF grasp detection is critically important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have bee…
Diffusion-Based Depth Inpainting for Transparent and Reflective Objects
Tianyu Sun, Dingchang Hu, Yixiang Dai +1
Transparent and reflective objects, which are common in our everyday lives, present a significant challenge to 3D imaging techniques due to their unique visual and optical properti…
Target-Oriented Object Grasping via Multimodal Human Guidance
Pengwei Xie, Siang Chen, Dingchang Hu +3
In the context of human-robot interaction and collaboration scenarios, robotic grasping still encounters numerous challenges. Traditional grasp detection methods generally analyze…
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Siang Chen, Pengwei Xie, Wei Tang +3
A series of region-based methods succeed in extracting regional features and enhancing grasp detection quality. However, faced with a cluttered scene with potential collision, the…